Merge Dev to Master. (#1826)

# Description

Please include:
* relevant motivation
* a summary of the change
* which issue is fixed.
* any additional dependencies that are required for this change.

Closes: # (issue)

# Checklist:

- [ ] I have changed the base branch to `dev`
- [ ] I have performed a self-review of my own code
- [ ] I have commented my code in hard-to-understand areas
- [ ] I have made corresponding changes to the documentation