If you hang the "Resting" sign on the door (I can't remember exactly what it says, but similar to Do Not Disturb), they leave you a laundry basket full of supplies, and you can, in turn, leave your dirty towels and such in it afterward, and outside your room, and they'll take it away. When we had our room "cleaned", it wasn't like a full cleaning, either. They changed the used towels, made the beds, emptied the trash, and that was about it.
We didn't find the pull out too uncomfortable, but we'd asked at check in for them to put an eggcrate mattress on it, too, which I think helped.