I feel your pain. Clingy 4 month old and a 2 year old here. Most stuff gets done when DH is around. My role during the day is to keep the children alive and if by some miracle I manage some housework then that’s a bonus.
I put a wash on a timer overnight so I can hang it up/put the tumble dryer on before he leaves for work. DH empties the dishwasher before he leaves for work so I can stack stuff in it during the day (or if baby is super clingy it just builds up on the side and one of us can quickly stack it when he gets home). Baby will sit in her chair and watch me fold washing if I waft it about excitedly for her entertainment.
In the evenings when DH is home I go upstairs to run the toddlers bath and during that ten minutes I put clean clothes away and have a quick scoot around upstairs. Then I feed baby to sleep then come downstairs and have a quick tidy up while DH puts toddler to bed. It’s good for my mental health to have a reasonably tidy home by evening so I can relax a bit without jobs whirling around in my head.
That keeps on top of the day to day stuff. At weekends we have one fun day designated no chores and one domestic day where we can tag team childcare while the other does bigger jobs like gardening, batch cooking etc.
Massive key is we have a cleaner for four hours a week, she changes beds, deep cleans the kitchen and bathroom and does all the floors. It was my caveat for having a second baby 
It is hard, especially when you’re the one sat stuck on the sofa thinking about everything that you’d like to do but can’t.
I find getting dinner ready a struggle, any tips there appreciated!