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The most recent set of dropped manga was to do with the low Interactivity with those stories and general disinterest of the story among the staff.
Since Asura isn't paid for anything by customers (since scanlation is a grey legal area so you can't really monetize it), if there isn't enough interest among both staff and readers alike the story gets dropped.
(This is site Interactivity for THEIR websites btw so what you do on here doesn't matter, hence why the translation team can change in the middle of a story since this is an aggregator site).
I think the insinuation with her underwear is the they got dirty during the night but I'm sure they will talk about it more later