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The main contribution of this paper consists of providing a geometric notion of Zimmer's topological engagement condition (geometric in the sense that it uses Riemannian distance). This new notion is then used, together with known foliated harmonic map techniques, to prove rigidity results (in terms of providing topological obstructions) for compact manifolds with suitable geometry or dynamics closely related to that of certain symmetric spaces of noncompact type.    One of the benefits of this new approach includes improvements of some known results. 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