Yep. Twice. I felt horrible when DD at just 9 days old rolled off her father and onto the hard wood floor. We did run to the dr, who was like, "Do NOT co-sleep! It's so dangerous OMG!!1" We were so scared that we set up the pack and play and tried to put her to sleep in there for a few nights, but we ended up going right back to bedsharing b/c she just wouldn't sleep in there for anything.
The 2nd time she was much older, like over a year, and she just scooted herself right off, again onto the hardwood floor. She cried, I scooped her up, she fell right back asleep. It was like nothing happened, lol.