make_ellipsoid() correct?

[avcs2019]

The make_ellipsoid() function under EllipsePlot.py file extracts the Jacobean (Jt) as self.robot.jacobe(self.q)[3:, :] for option "trans" and Jw = self.robot.jacobe(self.q)[:3, :] for option "rot". Is this correct? I thought it should be extracting the translation from the top three rows of J not the bottom. I realized this when I was trying to plot the velocity ellipsoid of a ur3 arm fully stretched upward. I was hoping to see the velocity ellipsoid to flatten out into an ellipse as it can't move upward anymore, but it still shows a regular ellipsoid.

The first image has ellipsoid plot as it is The second image has the "trans" and "rot" switched. With this, I'm at least getting something close.

I'd appreciate your feedback

code to replicate

  import roboticstoolbox as rtb
  robot = rtb.models.DH.UR3()
  robot.q = robot.qs
  robot.plot(robot.q, block=True, vellipse=True)

UR3 DH joint config

    self.addconfiguration_attr(
        "qs",  # fully stretched pose
        np.array(
            [0, -np.pi / 2, 0, 0, np.pi / 2, 0]
        ),
    )