A characterization of submanifolds of $\mathbb{R}^{m \times n}$ satisfying optimal rigidity estimates

Let $K \subset \mathbb{R}^{m \times n}$ be a compact $C^1$-submanifold with boundary, $p \in (1,\infty)$ and $Q := (0,1)^n$. We prove that $K$ satisfies a rigidity estimate of the form $\|Du - (Du)_{Q}\|_{L^p} \leq C \|\mathrm{dist}_K(Du)\|_{L^p}$, $u \in W^{1,p}(Q,\mathbb{R}^m)$, if and only if $K$