Yup, you will need to be on the bed to open the cabinets. We are sort of used to that as we have lived on a boat for the last 20 years. Sort of a trade off, but one we are willing to make for more storage. Under the bed is the "gear garage", space for folding bikes, inflatable kayak and backpacking gear. The bed is a queen size east/west in the rear of the habitat. Below is an early floor plan, I made a few changes during the build, one being the dry bath. You can see in the lower left where the "headboard cabinets" are.