Define/plot robot workspace

Hi, I would like to have advice about what packages might I look at, in order to visualize the workspace of a robot, as done with Matlab in this paper.

It’s not necessary to solve the whole problem. Say I already have the equations that define the singularity set, as functions of the robot joint angles, and what I want is to make the “singularity plots” shown in that paper.

Makie.jl seems to be the best these days at creating complicated 3D plots like those.