Sometimes, a child will respond better for a while if Dad, rather than Mom, does pick-up time with her, etc. Offer choice to your child. Young children don't respond well to unlimited choice. However, offering a choice between two options is frequently successful. When your toys are in the basket, then we can read the story you have picked out.
Compromise often works well when time is of the essence.
I will put Teddy Bear in the toy basket, while you put away the truck. If your child is very tired tonight, but usually does pick up toys, this option would be quick and allow you to get on with going to bed. When you have time and your child is not tired, hungry or sick, you can brainstorm together what to do about picking up toys. You want to go for win-win solutions. These toys in the middle of the floor at night are a hazard.