This is an old question. But I had the same problem and it was solved with the following code. I have four times a year in 3D.
As usual, I created the graphics as follows:
s3d <- scatterplot3d(...)
And then they just added the legend:
legend(s3d$xyz.convert(18, 0, 12), col= c("green","blue", "red", "black"), bg="white", lty=c(1,1), lwd=2, yjust=0, legend = c("2010", "2011", "2012", "Prognose fΓΌr 2013"), cex = 1.1)
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