Someone tell me I'm not crazy

Long story short. My husband cheated on me. When we were going through the divorce processes he decided he wanted to work things out. So we have been trying, went to marriage counseling a couple times. Things are going okay, but I can't stop thinking how much better I could have it. 
He also never helps me around the house. I have to beg him to walk 5 steps to put his dirty dishes in the sink or ask him many times to please help me clean the house, which he won't sometimes. He will just take a nap and ignore me. I don't know how much longer I can take this. 
Plus, I'm working later days than him, he's army and he is having half days right now. And I work way later than him and he just hangs out at home and plays his gameboy and doesn't do anything to help me out. 
So basically what I am asking, is how can I help fix this situation? I've done the stop cleaning and it gets so dirty that I get anxiety and deep clean the whole house. I'm losing my patience... 
UPDATE: now he says he will clean with me 20 minutes every night before bed. I mentioned all what you said to me to him and when I did he freaked the F out saying he cleans daily... however I agree we need counseling because I'm definitely not over him cheating. 

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