Sorting through somebody's dirty, floor-strewn laundry is a guaranteed, sure-fire way to heat up the passion and desire for said person.
Nothing would make me want my DH more than to daily check his underwear for skid marks before dutifully carrying his wet towel from the middle of the bed to the towel rail in the bathroom, carefully folding and hanging it up because he's far too important to do it himself, of course.
Um... NOT...! 
Of course, it would ostensibly be simpler for everyone if my WOH DH left his wet towel on the bed, stepped out of his clothes and left them there for me, a SAHM to sort, and for me to just do it, unquestioningly. Much simpler for everyone.
But, quite frankly - fuck that. Being treated like a skivvy, a maid who has nothing better to do that act as a 24/7 man/child-servant to everyone in the house would have me go from loving him to resenting him, to actively disliking and eventually loathing him and would pretty much kill any sexual desire I feel for him. I am not being overly dramatic. It would.
Lucky you and lucky your DH if picking up after him as if he's an untrained Neanderthal toddler still has you fancying the pants off him and wanting him as a sexual person, but it certainly doesn't work that way for me.
It would be semi-interesting to know what the sex lives of couples where the DH expects the DW to run round after him is like. Do you still fancy the arse off him, even though he treats you like a skivvy? Are you always up for sex with him? Considering how inconsiderate he is out of the bedroom, does he morph into an incredible, giving lover each and every time in the bedroom?
Thank Christ I have a DH who isn't an arse. I do not understand people who put up with this shit, and then go on to marry it and have children with it. 