Select it to collide with all figures. I can not see if it will hit the head, feet or hands so leave them in for the moment. I would not bother with the drape frames. If I've understood you right and the figure is in the above pose throughout then do not use "drape from zero". Add in the cloth self collision option. Possibly increase the simulation frames to 45 to allow the cloth to settle.

Give that one a go :)