Can you place objects in the bowl in order to clean the counter?
move to the towel, checking for obstructions
pick up the towel
move to the bowl, checking for obstructions
place the towel in the bowl
move to the mug, checking for obstructions
pick up the mug
move to the bowl, checking for obstructions
place the mug in the bowl
move to the fork, checking for obstructions
pick up the fork
move to the bowl, checking for obstructions
place the fork in the bowl
move to the paper towel, checking for obstructions
pick up the paper towel
move to the bowl, checking for obstructions
place the paper towel in the bowl