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Confirmed via the Lupin III Part 1 Storyboard collection since it includes an entire breakdown of the animators behind the pilot.
According to the Part 1 Storyboard Collection: Fujiko's go-go dance was designed based on footage shot in live-action at a go-go club in Akasaka that Sugii used to frequent.

不二子のゴーゴータンスは杉井氏が通っていた赤坂のゴーゴークラブで、ダンサーをライブアクションで撮影して設計、それを元に芝山氏が作画した。