I also enjoyed my week post natal in hospital! The support I got while I struggled with breastfeeding was invaluable - the babies went down to the nursery at night . Not having to cook was pretty good too!
I know that you want to be there for them , as well as see the newborn, but at least with facetime etc you can see her - beyond the problem of possible infection, it will mean that the new mum and dad get to spend precious time with their child - the grandparents and health professionals are a phone call away .
I don't think that the government advice in England at least is allowing people to go inside other's houses, relatives or not (despite what quite a few people seem to think from some reports), so whatever, you need to wait t visit at the moment.