You're right of course, but that's the SIMPLE PART. The harder part is judgement. Even the stupidest human being has a vast amount of common sense, masses of rules of thumb which they have internalized and a deceptively deep understanding of context. How would a robot even know how to classify things as clothing or not clothing? Or more to the point washable or not washable? All but the stupidest humans would hesitate to throw piece of clothing with a large wet ink stain into a laundry machine with other clothes for instance, and said humans could reason this out from first principles (IE an understanding of how the washing process works, what ink is, etc). The level at which even the most sophisticated software operates is nowhere near robust enough make those sorts of reasoned decisions except in very carefully set up situations.
And then there are the higher level dimensions to the whole thing. When is it appropriate to wash things and when not? Which things do you have a RIGHT to wash and which things do you have a RESPONSIBILITY to wash? Since the 1950's people have gone on about the "3 laws of robotics", but Asimov would have been the first to point out that such things couldn't possibly ever be imbued into a machine. Its not even just the logical and epistemological limitations of those sorts of strictures themselves, but simply that we cannot define the situations wherein they would operate or determine when they were being violated. We can't make a self-driving car because we would have to teach it things like "Its better to run over the old man than to run over the baby when you cannot avoid them both." Obviously we'll live with robot cars that simply do one or the other by chance, but to imagine that anything short of a fully conscious general AI could make that sort of decision in a 'human-like' way is patently ridiculous, and we haven't got even the slightest idea how such an intelligence would be developed.
You say 20 years, but I say 100 years. We've barely set our foot on the first step of the path to understanding how to make something like that, and the most critical challenges involved have barely been imagined.