We both work full time and we only have one daughter. We try to keep things picked up but that doesn't always work. When I'm the only one on my feet doing housework, I ask them what's wrong with this picture and then they both help. On weekends we work on chores or special projects until noon, then usually take the rest of the day off. Life is too short. I do try to keep the kitchen clean and cook from scratch. I clean toilets when they need it. I wear shoes in the house so I don't notice how dirty the floors are. He does the floors every six weeks whether they need it or not.
Some things just aren't worth arguing about any more.
I have a contest to see who can go the longest before picking up little bits of trash on the floor. I always give in and pick it up. When I get frustrated I say Life is too short, then some things aren't worth arguing about any more and then repeat as needed.