I'm not sure how common that is. Perhaps because pools tend to be small and pool-side facilities set-aside or franchised more for generating profit; F+B, spas and so on.
But what I have seen a lot at hotels is people being totally unembarrassed about going from their rooms to the pool in their swim-gear and dressing gowns.
The complaint you might hear about that is that such people can leave pools of water on lift floors, but if you give yourself 5 minutes to dry off after a swim then problem solved.
If you add a t-shirt underneath the robe, so all your 'bits' aren't on show, I doubt anyone will bat an eye, it's that normal IME. If you're concerned at all go to the disabled loos (always more spacious) for 2mins and change into shorts/t-shirt etc before heading back to the room and showering.
The same approach seems to be normal in
condos too, again IME.