Yes, she grabs it

She'd only need to borrow it for a little while and this opportunity was too good to pass up. Sophia knelt down and pulled the towel down unto the floor and then swiftly into her stall. She quickly wrapped the towel around herself, finally covering herself up again. The soft textured fabric felt nice against her skin. Sophia finally felt not so exposed anymore and could now focus on her next steps.

If she was quick, she might be back before the girl returned. Then, she could just put the towel back where she found it and it would look just as if it had just fallen and that was why it was wet. Sofia could not yet think of an excuse she could give if she came back too late, but she'd cross that bridge when she got there. First things first, she needed to get dressed.