Dirty laundry..

Okay ladies I need advice. So me and my husband currently stay with my i laws... (His parents). I saw some dirty towels laying in the kitchen floor today and the laundry room floor so I thought I'd help wash them. I put the towels in with a t shirt a pair of jeans & one white wash cloths & a white pair of socks..I walk into the hallway where the laundry room is and my father in law is standing there and said "did you wash clothes".. I said yes and he motiond me to come his way so I did and then he goes on saying how I shouldn't wash whites with color. I shouldn't was t shirts with towels. Then he sees one of my dogs blankets in there and says "& in here with (insert dogs name here) poop on it... I said no, & just nodded and agreed and he said "but I'm not trying to jump on you at all I appreciate you trying to help" okay I feel like I'm a grown woman I'll wash clothes how I wanna wash clothes & I think he WAS jumping on me. I went to my room and cried.  What do you think? Is it no big deal? Was he wrong?