# Define/plot robot workspace

**URL:** <https://discourse.julialang.org/t/define-plot-robot-workspace/47026>\
**Category:** Visualization\
**Created:** [September 21, 2020, 4:17pm UTC](https://discourse.julialang.org/t/define-plot-robot-workspace/47026 "2020-09-21T16:17:06Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![heliosdrm](https://sea2.discourse-cdn.com/julialang/user_avatar/discourse.julialang.org/heliosdrm/32/3851_2.png) [@heliosdrm](https://discourse.julialang.org/u/heliosdrm)\
**Post date:** [September 21, 2020, 4:17pm UTC](https://discourse.julialang.org/t/define-plot-robot-workspace/47026/1 "2020-09-21T16:17:06Z")

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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](https://pdfs.semanticscholar.org/e5f8/d98ce96b1dfcce05966bed52a85a215cf0a9.pdf).

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.

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**Author:** ![tomerarnon](https://sea2.discourse-cdn.com/julialang/user_avatar/discourse.julialang.org/tomerarnon/32/3170_2.png) [@tomerarnon](https://discourse.julialang.org/u/tomerarnon)\
**Post date:** [September 22, 2020, 1:09pm UTC](https://discourse.julialang.org/t/define-plot-robot-workspace/47026/2 "2020-09-22T13:09:17Z")

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