For me, it was pure philosophy. When I came to terms with how totally insignificant I and my world is in the grand scheme of the universe, something as simple as the dog tracking mud across the floor became less then inconsequential.

As an aside:

Meanwhile I'll get pissed that I didn't wipe their feet and be mad the entire time I'm cleaning it up.

This reads like someone who takes everything upon themselves and doesn't cut themselves enough slack. I don't know you and this is the tiniest snippet of your life experiences, so take my statement with a massive heaping of salt, but give yourself a break. You aren't super human, you aren't responsible for everyone and everything, and you will make mistakes. Holding yourself to an impossible standard is a common source of anger and unhappiness.

Subjectively speaking, every person I've met who I would describe as "angry" when discussing their personality (I'm a believer that some things are worth being mad about and choosing to be appropriately angry does not make you an angry person) is deeply unhappy with themselves. This is usually because, thanks to a combination of external influences like narcissistic friends/family, they never measure up to their distorted beliefs of how they "should" be. "Should" is a bad word. Thinking in terms of "should" is self-abusive and rarely helpful. "Will" and "next time" are fine. They're about learning. "Should" is nothing more than a way to internalize the things you've done wrong without focusing on how you'll learn from them.

Anyway, I could be way off, cause man I don't know you. But, some food for thought, anyway.