One approach would be to write a message converter extension (rather than a panel) that would convert a WrenchStamped message into a Scene Update (with a scene entity). It looks like you could get really close with converting the message into two arrows within the entity. I don't know about the third circular arrow but might be something we can make work.

If you write a message converter, then any topics with WrenchStamped will show up in the existing 3d panel.

Here's the docs on message converters: https://docs.foxglove.dev/docs/visualization/extensions/guides/create-message-converter

@defunctzombie
Thanks for the reply.

As you pointed out, it is difficult to describe CIRCULAR ARROW.
This issue is not at the level where I can implement it immediately,
I hope you will approve this pull request.

I will consider the issue in the next update.