Impedance equation In 11.7.1 section $\tau = J^T(\theta)(\hat{\Lambda}(\theta)\ddot{x}+\hat{\eta}(\theta,\dot{x}) - (M\ddot{x}+B\dot{x} + Kx))$ is actually means $\tau = J^T(\theta)(\hat{\Lambda}(\theta)\ddot{x}+\hat{\eta}(\theta,\dot{x}) + (M(\ddot{x_d} - \ddot{x} )+B(\dot{x_d} - \dot{x}) + K(x_d - x)))$?
And exponential coordinates of end effector $\mathcal{S}\theta$ is just $\mathcal{S} \cdot \theta$?
