1.) First, get rid of the heat rock. Its a completely useless, if not hazardous product for a reptile. If you have proper lighting, there is no need for one.
2.) When you say the warm end is about 100'F, is that the ambient air temperature, or is that the actual surface temps of the ground directly below the basking lamp? You should ideally have a real rock or stone under that lamp, which will provide a more natural basking area than a heat rock. This surface should between 120-140'F. You will need a digital thermometer with a sensor or a temperature gun to gauge the temps from this spot. The little sticky thermometers are useless.
3.) As for food, lean more toward leafy greens then other vegetables. I feed my Uro kale, romaine lettuce and the "spring mix" salad mix commonly available at grocery stores. You can also grind up a 15-bean soup mix into a powder and leave that in there 24/7 for the Uro to nibble/graze on. What time of the day are you feeding him?
4.) Also provide plenty of hides and shelters, on all ends of the cage. Many Uros prefer to hide under a decoration under the basking lamp as opposed to basking out in the open for extended periods of time. Various blocks and planks can achieve this. The more temp gradients you provide, the better.

5.) Don't worry about handling for now. Get his habitat adjusted accordingly with proper decorations and lighting, and wait til he starts eating more regularly before starting to handle him.

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