Two kinds of machinery are needed.
One very basic and cheap robot to go around the neighborhood and gather clothes in some boxes, and transfer them in a designated room to wash them.
Two state of the art robotic hands mounted on the wall, and connected to AC (no batteries). The two arms are going to be controlled by computers even a whole rack of them, with many GPUs in them. The whole setup might use 10KW of energy, it will wash clothes by hand, it will be fast, dexterous and accurate. Expensive as well. In 3 minutes it will wash 100 t-shirts much better than the best human on the planet, or any other non-intelligent machine.
Then the small basic robot returns the clothes to the house.
Same with cooking. Same with many other things.