Merge latest from dev.


Former-commit-id: 7a06341f7a2e5dec648617009e31fea6f8f389ea
Merge latest from dev.


Former-commit-id: db9ca13a1ff186721d84a0722dd4bd3f5dc6e55d
Clean up doc gen.


Former-commit-id: 3c6dfcac4f238979fb83ddd2f0ddcab5f1f2e9d0