@crharmer, I'll give it a shot but she's so uncomfortable she's barely sleeping and I don't want to leave her up here screaming in the playpen

Sort it beforehand (if that's what you do) so you just have to run down for a minute to throw it in the wash. Take it upstairs to fold. Either put baby in crib/playpen while you do it or wait until they're asleep. I'm in the same boat and usually do laundry at night when my 3 are asleep.