Wow! Just walk out and leave the mothers and babies on the maternity unit without care? Really? That's a good way to endanger the the other patients ( and get fired.)
This is how rational people would handle the problem:
Ask to speak to the nursing supervisor, if that fails, call the public relations department of the hospital. The PR department is closely associated with the hospital attorney. If that doesn't suit you, then quietly and safely discharge yourself and the healthy infant from the hospital.
However....People who are not drunk, high on cocaine or meth, or spoiled brats fully understand the hospital kidnapping protocol well before admission to the hospital, and have the maturity and patience to wait the 2, 3, or more hours to make the arrangements to safely and in a non-confrontational manner, leave the hospital.
You are right.
Also, if this baby was 3 days old,( and not discharged yet) there might have been a medical reason why the baby needed to stay on the floor.
Mother appears to be old, so it was a high risk pregnancy. The baby may have had medical issues post birth.
None of that is going to be revealed until the trial due to privacy laws ( HIPPA).