I have whittled it down to one word commands and am very rarely stressed.
Dirty Laundry...once a week I shout up the stairs LAUNDRY. Three bedroom doors open, muffled sounds and wash basket it full. Three bedroom doors close. No stress.
Glasses, plates, cups etc in rooms ( festering)....a couple of times a week I shout up the stairs POTS and go into living room. They then have a 10 min window to place all items in the sink. Three bedroom doors open, three lots of clanking coming downstairs. Sink full ( a soak is usually required before dishwasher) three lads back upstairs, bedroom doors close. No stress. ( they are perfectly capable of filling/emptying dishwasher but I prefer to do it myself)
Ironing is done in my room and placed on my bed in their respective piles...you've guessed what I shout etc. etc.
I don't have a problem with lights as I have cunningly trained them to have heightened night vision and can function in very low light conditions 
They do not eat sugar so no spillage and rarely eat bread so no crumbs.
I rarely enter their cavesrooms so no stress there.
They can all cook,bake, sew, knit, launder and iron. I have made sure they can look after themselves but,for now, I prefer to do these things myself.
They will however, do anything I ask of them without complaining and fix things that need fixing, DIY and car maintenance unprompted. We have a very laid back and easy going way I think. No nagging. No Stress.