Inconditus, were you able to get more information on Robinson? It might be worth asking for a tour of their "birth center" and ask your questions! This would also provide the opportunity (face-to-face) to feel out the honesty factor--- as some facilities and HCPs are far more serious about their gain of a maternity patient (forgetting to consider the parent's efforts to find & make decision on the facility & HCPs that will meet their needs). If they routinely welcome without hesitation mothers with birth plans (including accompaniment of doulas), if they welcome mothers to labor upright moving around without IVs placed, etc., there is indication of a tolerance of mother-centered childbirth.
Nothing new offered in that said~ but I wish you a sweet and wonderful birth day...and encourage your gentleness but firm tiger-ness, to act on what you feel you will need to birth normally and stay the course to meet your needs and your baby's.
San Hess, CPM