I have no carpets, the first floor is all stone over a thick concrete slab. Even my full sized Horses, 1000 lbs and up, have no problems being in the house, though I rarely have more than three in at the same time.
They have all been taught the proper manners and the biggest problem is their helping themselves to food and treats.
Little Rose is a good girl and waits until she's back outside rather than make a mess in the house.