Coach here,
The below is per 2006 HFHS rules site:
Definition of impeded:
(runner) has been slowed down or had path altered
If fielder's location limits runner's access to base or base path, and fielder does not yet have ball-- obstruction should be called.
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My comments:
Laying on top of the runner is definitely limiting their access to the plate. Defense had their chance, they dropped the ball. I don't think you need to be judging whether a 100 lb runner is wiggling underneath a 200 lb catcher. I've got obstruction, and a series of carefully worded questions getting ready for my protest.