Insurance for unborn baby

So I’m currently 21 weeks pregnant and I live in Texas. I’m under my mothers health insurance plan so my obgyn is covered and in network, the issue is my moms company won’t put my baby on the insurance since she’s not a dependent. Is there a way I can get the baby insurance through Medicaid while I stay with my moms so I don’t have to change doctors. I don’t really understand how this all works but I know my baby needs insurance for when she’s born and the pediatrician visits.