I’m sure this has probably been mentioned before, but just mentioning it again (sorry) just in case…
That whole lecture is spent chasing physics issues, it isn’t a physics issue at all. Let me explain.
When we made our Animation Sub Machines we had a “lower” at the end of each state, so when we “Renew” the pins, we are then doing a “Lower” but of course they are already on the floor at this point, so they end up just flying through the floor instead.
Whilst physics troubleshooting IS a good skill to have and I don’t think this lecture should be completely disregarded, this is a major hack rather than fixing the issue (removing the lower, or changing it so it instantiates with the gravity off at least) and should probably be pointed out 
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Thank you! I think this is important. I was totally unconvinced by the explanation given in the video, it was clear there was something else going on. Although the physics troubleshooting is important to learn, it is not the issue here.
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I wasn’t having the pins fall through the floor issue when I started this lecture, I figured it was because I messed around with the physics already, but your post just made me realize it was because of my code. I use an array of pins when I raise/lower which works fine the first time, but after I instantiated new pins I didn’t put them into the array, so they were never actually being lowered through the floor. Your post made me check my tidy animation after instantiating a new set of pins, and since they weren’t in the array, they weren’t being raised either. So thanks for the tip!
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No problem Joe! Glad I helped, even if it was indirectly xD