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With the laundry -
Set her up to succeed as previous posts said, pick up the laundry. You can also try "leave it" training. Have her on a leash, put undies on the floor just out of reach, when she goes for it (hold her so she can't get at it, this is critical) say "leave it" once she looks at you, she could do it right away or not, if it's been a little and she's still staring at the undies, make a kissy noise and once she looks at you say "good leave it!" and give a VERY yummy treat! Keep practicing this 3-4 times per day. By 1 week you will have her leaving it. but have treats somewhat handy.
With the kids, go about as normal, when she goes for them you can either shake a shaker can (pennies in a can) used for a startle to stop a behavior, and you want to redirect her, say "eh eh" , then go stand infront of her and walk towards her to push her out of whatever room you're in. Don't grab her collar and drag her out. Just stand there and slowly move forwards, she'll try to get around you, just block her with your hands until she leaves the room, then stop there and wait until she sits or lays down then walk away. Repeat if necessary.
This will take time, probably a couple weeks, depending on her persistence.
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