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hurdle vs avoiding contact
The no hurding rule was put in place for safety. You don't want spikes flying by a fielder's head. Fed also has an avoid contact safety rule also.
You say that R2 went over/around F5 after F5 dropped the ball. You have to judge if R2's action was more of a hurdle or more of an attempt to avoid contact with F5 who is probably doing something different than he would be if he didn't drop the ball. If F5 reached over/into R2's path then perhaps F5 initiated this problem for you. Not that R2 can justify hurdling him, but perhaps you do have nothing. Judgement call.
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