Ok so this works now on objects but not always. Most often this occurs when you jump from object to floor, if you touch the ground with your hand a few frames before you jump with your feet, if you touched the ground with the ankle a few frames before you jumped. Also if you wallrun it will detect the contact to be with the top edge of the wall lol.
It only looks if you're on top of something, not if you're touching something in general.
Could you maybe post a replay of a run where it doesn't work. That would be helpful.
Ok, I did some research and I found out that there will be problems with rotated objects and cylinders (till now) but I don't see why it fails the way it does. I'll look into it again tomorrow.