Mimic joints with KDL

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Hi to all,

I am addressing an issue using KDL to solve Inverse Kinematic problem and mimic joints. I have loaded my robot model using URDF file, in which mimic joints are specified (I have a long kinematic chain composed by 21 joints, for each active joint there is a mimic passive joint).

I am quite sure that the model is correctly defined, in fact I used MoveIt with the same URDF file to perform motion planning. So my questions are: is KDL able to support mimic joints directly from URDF file? Is there any other ways to impose kinematic constraints?

I am using ROS kinetic with ubuntu 16.04.

Thank you