I am quite similar to you. I belong to a gym, because I know I won't work out if I don't make it part of my schedule to go to a gym and lift. I can't work out at home, too many distractions (like a 5 year old and a 7 year old). That being said, I don't really use the equipment at the gym, except for the dumbbells. I get too dizzy doing jackknife presses, doing anything upside down. So, I do overhead presses instead. Not as good, but I'm fairly sure that Sisson didn't mean for me to make myself sick while working out, so you do what you gotta do.
Since I need the gym for a psychological crutch and for the gym nursery, so here's what I do: M-W-F: Walk 30-45 minutes, depending on my day's schedule, Do Sisson's 5 Essential Movements (push-ups, pull-ups, squats, overhead press, planks), about 1 hr 15 min; T-T: Walk on the treadmill again, at least for an hour. I have to walk on the treadmill, unfortunately, for my Move Slowly stuff. I have some orthopedic stuff that prevents me from doing much else. I've never seen a gym that didn't have a pull-up bar or a small area where you can do planks and such, except for my college gym in the early 90's, which was really more of a walk-in closet than a gym. I think they were more concerned about the sports teams' gyms than the people who actually paid to go to school there, but I'm not bitter, lol. They did have a pull-up bar, just no place to do exercises that don't require equipment.
Motherhood: When changing from pj pants to yoga pants qualifies as 'getting dressed'.