Fixes from Hongkai's comments.
Fixes from Hongkai's comments.

scottviteri/drake,edowson/drake,psiorx/drake,tkoolen/drake,hanssusilo/drake,tkoolen/drake,astrorog/drake,billhoffman/drake,sheim/drake,crogers3/drake,hanssusilo/drake,edowson/drake,tkoolen/drake,hanssusilo/drake,hanssusilo/drake,thientu/drake,billhoffman/drake,crogers3/drake,billhoffman/drake,thientu/drake,psiorx/drake,psiorx/drake,manuelli/drake,edowson/drake,hanssusilo/drake,astrorog/drake,crogers3/drake,manuelli/drake,crogers3/drake,psiorx/drake,scottviteri/drake,psiorx/drake,manuelli/drake,manuelli/drake,astrorog/drake,hanssusilo/drake,billhoffman/drake,scottviteri/drake,manuelli/drake,billhoffman/drake,psiorx/drake,tkoolen/drake,sheim/drake,crogers3/drake,scottviteri/drake,psiorx/drake,sheim/drake,sheim/drake,crogers3/drake,edowson/drake,astrorog/drake,scottviteri/drake,hanssusilo/drake,manuelli/drake,astrorog/drake,billhoffman/drake,crogers3/drake,thientu/drake,sheim/drake,hanssusilo/drake,sheim/drake,scottviteri/drake,tkoolen/drake,sheim/drake,billhoffman/drake,thientu/drake,astrorog/drake,edowson/drake,astrorog/drake,sheim/drake,manuelli/drake,thientu/drake,tkoolen/drake,billhoffman/drake,thientu/drake,edowson/drake,edowson/drake,tkoolen/drake,thientu/drake,crogers3/drake,scottviteri/drake,psiorx/drake,edowson/drake