If it is right after the soap is poured in the mold, the towel is insulation to help promote the gel stage of saponification. You can prevent gel by putting in the freezer but saponification will take a bit longer (sometimes up to a week) to finish instead of a day or two. Ungelled can also take longer to be ready to cut. Gelled usually seems ready to cut, for me, within 24 hours or so of pouring into the mold, even my castile (I forced gel in my oven at 170F). Once my batches are reaching the end of their standard cure period, I box up in cardboard boxes and stash away.
CP is "usable" once it no longer zaps (saponification is complete). However, due to the water content, it greatly benefits from a 4 to 6 week cure time in an area with not a lot of light, decent air circulation and not too humid. HP soaps also benefit from a cure. Some people only cure their HP a week, others give it the same 4-6 week cure period. I've only made one batch of HP and it was still harsh after 2-3 days so I'm going to try again at 2 weeks and determine from there. The cure times let the excess water evaporate from your bars, making them last longer and the soap will be milder the longer it cures.
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