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My OB gave me the okay at 6 weeks pp too

most everyone can at 6 weeks unless they had REALLY bad tearing.
I started going on mile-long walks at 2 weeks pp, and then full out going to the gym right at 6 weeks. I found that I couldn't do half of what I used to be able to though. I used to do 3-5 miles easy on the elliptical, I could hardly do 1! And any really intense cardio (like jumping or running) caused incontinence which was so embarrassing. So I started working on kegels again and it's gotten better 6 weeks later I still make sure to use the bathroom right before working out though lol

I was given the okay at my 6 week pp appointment.

I got the all clear at my 6 week appointment, before that I just did long walks at a slower pace. I haven't started working out yet at almost 5 months though

I was told to avoid pilates (unless it is specifically postpartum pilates) until you have your abdominal separation reviewed...not that I am anything close to expert on the subject, but I understand that pilates can help to strengthen your abs as they are, so if you have any separation, it will make closing that gap more difficult. If you have any access to mom/baby workouts, I would totally suggest that route!!!
But yes, once you get clearance!