Collider Tag
Specifying what object will collide with the cloth objects is done in the same way as defining a cloth object: by adding a Collider tag to the desired object.
To add a Collider tag to an object:
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Select the object and in the Object Manager, choose Tags / Simulation Tags / Collider.
The Collider tag will be applied to the selected object that can now collide with any cloth object.
All collision Objects can now also act as Generators (Instances, Cloner Objects, parametric Primitives, etc.) and must not first be made editable (c-key].
The distance within which a collision is detected is defined using the Cloth tag's Thickness setting.
Objects to which Collision tags have been assigned can be grabbed and moved/rotated in the Viewport if the collision detection is correct. If you (or the animation) make movements that are too fast, penetration can occur. If this happens, increasing the Substeps setting will always help. .