Oh Dear! R., I know how you feel.
I am a SAHM of three girls (3, 2 and 6 months!). My husband has been working out of our home for almost a year now. It is both a blessing and a curse. I also thrive on schedules so here's how I handle it. I do not offer him any assistance in his work schedule. If he gets up and starts working, great. If he doesn't that's his problem. I don't try (anymore) to keep the kids quiet for him. I go about my day exactly as I see fit. Now, his 'office' is actually in our 'closet', so he can isolate himself if he needs to (It's a big closet, don't worry!). The kids and I go do our own things throughout the day and dinner is on the table between 5 and 6 whether or not he's done with his day. Then we begin the bedtime routine. Luckily, he doesn't want to miss out on much time with the girls, so this has prompted him to make sure he's done with his day at least by bedtime. (In sales, that may not be possible) I can't rely on him being home for me to be able to go to the store while the kids nap or anything. I have to just pretend he's not there and wait for them to wake up and bring them with me. If I absolutely need him to (like when I was pregnant with my third and had dr. appts), I do ask if he can please make himself available for an hour or so...but that rarely happens. (I don't know if any of this helps you!)
As far as picking up after him. I wish I could tell you how many women I've talked to, (whose husbands work from home) who's #1 complaint is having to clean up the lunch time dishes that are just left like at a restaraunt...etc. Maybe there's comfort in at least knowing you're not alone. For me, it's been a very long...slow...tedious process (his mom helped him alot too!), but we're finally at a point where he will bring his own dishes to the kitchen! It's a start but I figure in about 10 years, I'll have him loading the dishwasher! hahaha. The best advice I can give you is to praise the very smallest of efforts (and try not to throw up while you're doing it, cause believe me, it's nauseating how dumb you feel!). If he opens the mail, for instance, and just leaves all the empty envelopes all over...if you see him even try to put them into a pile for you...thank him up and down and let him know that it has helped you so much. Also, let him overhear you tell a friend on the phone about how much more helpful he's being now. It sounds dumb, but I'm a firm believer that it works! That said, my grandmother once said at her 25th anniversary party, "If only I could teach him to pick up his socks". I guess some things may never change!
Good luck and congratulations on the new little one!