Merge from development to master to prepare for Bali milestone-1 #115
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What this PR does / why we need it: This PR merges code from development branch to master branch before the Bali milestone-1 release.
Which issue this PR fixes (optional, in
fixes #<issue number>(, fixes #<issue_number>, ...)format, will close that issue when PR gets merged): fixes #Special notes for your reviewer:
Release note: