I second MantaRay and all other posts of that ilk - go over, set up a coffee date and suss her out. If you go over and she's really stuffed and looks like she'd eat up your company if only she weren't in her PJ's, then I'd offer to hold the baby while she showers, too
You are being so thoughtful, and I think that if this is your inclination, go with it - your intentions are lovely and she'd have to be neurotic to take your actions badly...although we're talking new mum...so maybe she IS neurotic and just needs someone to kickstart her back to reality!!