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As you can see in the picture, the blanket folds inside of the top mattress when it's supposed to fall on top. The blanket starts outside of the perimeter of the mattress but gets sucked in for some reason

This is using Blender 2.8 and the cloth and collision modifiers have not been changed from default settings.enter image description here

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Please try to untick Single Sided in the Softbody and Cloth menu of the mattress collision.

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