Fix code review comments. Add backticks around code nouns for clairty. Fix a few working and punc issues.
Fix code review comments.
Add backticks around code nouns for clairty.
Fix a few working and punc issues.

billhoffman/drake,billhoffman/drake,sheim/drake,billhoffman/drake,sheim/drake,billhoffman/drake,sheim/drake,sheim/drake,billhoffman/drake,billhoffman/drake,sheim/drake,billhoffman/drake,billhoffman/drake,sheim/drake,sheim/drake,sheim/drake