diff --git a/CHANGELOG.md b/CHANGELOG.md
index d7d6cb4b346e8..7b88159ef8b4b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,10 +1,31 @@
 ## DART 6
 
-### DART 6.2.1 (2017-XX-XX)
+### [DART 6.2.1 (2017-08-08)](https://github.com/dartsim/dart/milestone/37?closed=1)
+
+* Collision detection
+
+  * Fixed collision checking between objects from the same body node: [#894](https://github.com/dartsim/dart/pull/894)
+
+* Kinematics/Dynamics
+
+  * Fixed transform of ScrewJoint with thread pitch: [#855](https://github.com/dartsim/dart/pull/855)
+
+* Parsers
+
+  * Fixed incorrect reading of <use_parent_model_frame> from SDF: [#893](https://github.com/dartsim/dart/pull/893)
+  * Fixed missing reading of joint friction from URDF: [#891](https://github.com/dartsim/dart/pull/891)
+
+* Testing
+
+  * Fixed testing ODE collision detector on macOS: [#884](https://github.com/dartsim/dart/pull/884)
+  * Removed redundant main body for each test source file: [#856](https://github.com/dartsim/dart/pull/856)
 
 * Misc
 
+  * Fixed build of dart-gui-osg that depends on the presence of OSG: [#898](https://github.com/dartsim/dart/pull/898)
+  * Fixed build of examples and tutorials on macOS: [#889](https://github.com/dartsim/dart/pull/889)
   * Fixed missing overriding method OdePlane::isPlaceable(): [#886](https://github.com/dartsim/dart/pull/886)
+  * Replaced use of enum by static constexpr: [#852](https://github.com/dartsim/dart/pull/852), [#904](https://github.com/dartsim/dart/pull/904)
 
 ### [DART 6.2.0 (2017-05-15)](https://github.com/dartsim/dart/milestone/30?closed=1)
 
@@ -233,6 +254,14 @@
 
 ## DART 5
 
+### Version 5.1.6 (2017-08-08)
+
+1. Improved camera movement of OpenGL GUI: smooth zooming and translation 
+    * [Pull request #843](https://github.com/dartsim/dart/pull/843)
+
+1. Removed debian meta files from the main DART repository
+    * [Pull request #853](https://github.com/dartsim/dart/pull/853)
+
 ### Version 5.1.5 (2017-01-20)
 
 1. Fixed Lemke LCP solver for several failing cases
diff --git a/dart/math/ConfigurationSpace.cpp b/dart/math/ConfigurationSpace.cpp
new file mode 100644
index 0000000000000..d487e3173997a
--- /dev/null
+++ b/dart/math/ConfigurationSpace.cpp
@@ -0,0 +1,57 @@
+/*
+ * Copyright (c) 2017, Graphics Lab, Georgia Tech Research Corporation
+ * Copyright (c) 2017, Personal Robotics Lab, Carnegie Mellon University
+ * All rights reserved.
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "dart/math/ConfigurationSpace.hpp"
+
+namespace dart {
+namespace math {
+
+//==============================================================================
+//
+// These namespace-level definitions are required to enable ODR-use of static
+// constexpr member variables.
+//
+// See this StackOverflow answer: http://stackoverflow.com/a/14396189/111426
+//
+constexpr std::size_t SO3Space::NumDofs;
+constexpr int SO3Space::NumDofsEigen;
+
+//==============================================================================
+//
+// These namespace-level definitions are required to enable ODR-use of static
+// constexpr member variables.
+//
+// See this StackOverflow answer: http://stackoverflow.com/a/14396189/111426
+//
+constexpr std::size_t SE3Space::NumDofs;
+constexpr int SE3Space::NumDofsEigen;
+
+} // namespace math
+} // namespace dart
diff --git a/dart/math/ConfigurationSpace.hpp b/dart/math/ConfigurationSpace.hpp
index d146cd9d11b09..901290ee0c89b 100644
--- a/dart/math/ConfigurationSpace.hpp
+++ b/dart/math/ConfigurationSpace.hpp
@@ -55,6 +55,18 @@ struct RealVectorSpace
   using JacobianMatrix = Eigen::Matrix<double, 6, NumDofs>;
 };
 
+//==============================================================================
+//
+// These namespace-level definitions are required to enable ODR-use of static
+// constexpr member variables.
+//
+// See this StackOverflow answer: http://stackoverflow.com/a/14396189/111426
+//
+template <std::size_t Dimension>
+constexpr std::size_t RealVectorSpace<Dimension>::NumDofs;
+template <std::size_t Dimension>
+constexpr int RealVectorSpace<Dimension>::NumDofsEigen;
+
 using NullSpace = RealVectorSpace<0u>;
 using R1Space = RealVectorSpace<1u>;
 using R2Space = RealVectorSpace<2u>;
@@ -92,7 +104,6 @@ struct SE3Space
 
 struct MapsToManifoldPoint {};
 
-
 //==============================================================================
 template <typename SpaceT>
 typename SpaceT::Matrix inverse(const typename SpaceT::Matrix& mat);