1function [event] = walker_falling_event(t, N, dt, q, dq, t_all, x_all, s, rec, Tj, Tm, Tp, dTj, dTm, dTp, M)
2%#codegen 
3event = 0; 
4if (q(2) < -0.25) 
5  event = 1; 
6end