How to deal with the never dirty house

A bit of a rant. My husband has done my head in. Our house is a mess since baby was born 6 months ago. Baby toys, clothes. You know the deal. I have tried so hard to keep on top of laundry and of cleaning but I literally cannot. Baby is a massive Velcro. I've managed a few times in a sling but there's only so much you can do without it causing huge strain and I've tried a few times setting him up so I can get shit done. It hasn't worked or at least the tasks are always left unfinished. In waltz the king of opinions, my husband. My husband thinks I shouldn't be doing laundry when the other laundry isn't out away yet. Oh I shouldn't be doing stuff on s Monday because it's a busy day. But also I'm not doing enough around the house other then. Coming from the same man who refuses to put his dirty clothes in the laundry basket. Every damn time I pick up the socks and underwear I've TRIPPED on holding the baby and asked for him to make the 4 step effort to put it in the basket he just doesn't. And then he has the GALL to act high and mighty having s go at me for trying to do the bare minimum to keep the house ticking over. Making sure we have clean dishes, baby had a clean bib. I'm so tired people. He literally stormed downstairs because I told him I cannot deal with him when he starts on at me like this, this late at night. Taken his pillows which is great I actually get a bed to sleep on rather than be contorted and hurting due to me having to Co sleep (yep baby is that attached 🥲) But no. The 20 mins I ask to have a lie in when I'm up multiple times at night soothing his baby is too much to ask. He's a fucking Hero WHO can judge all women who pick up his disgusting dirty socks off the floor for him. I'm just so done y'all