No. They should have explained it better, but regardless it's a dumb fucking stipulation that is being used to control your actions. Do not ever blame yourself for them not explaining their expectations. They offered to "help", they ought to have made it clear what they expected in return; which isn't help but a transaction.

You're not to blame for expecting to be able to utilise the entire home considering you'll be living in it 24/7 for 20+ years. They're to blame for expecting you to have a hotel room for them, but not be able to clean or maintain that space for yourself or for them. It's a stupid stipulation, and they're stupid and disrespectful for making it a transaction under the guise of generosity. It isn't generous or kind to expect something that fucked up in return.