They are not going to do anything that will make you happy. So your choices are:
1) clean it up yourself (or hire someone) and be grumpy, but at least with a clean house
2) continue to wait for them to do it and be grumpy, but with a messy house
Them realizing it is their responsibility and cleaning it up is not an option because you have no control over that and they've pretty much shown you that's not going to happen.
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