cherry pick RICH bug fixes from IRT integration
Before freezing DeathValley, we should make sure all bug fixes from other RICH branches (viz. irt-init-v01) are pulled into master; for example, bca4580b
Before freezing DeathValley, we should make sure all bug fixes from other RICH branches (viz. irt-init-v01) are pulled into master; for example, bca4580b