It doesn't work with the current amphion version but once the pull request for wrench_stamped will be merged and amphion gets updated it should work (at least it does on my branch with the package.json using my version of amphion "Git+https://github.com/ThibaultLacharme/amphion#wrench_stamped")
Note that there is still something odd which happens when setting forceArrowScale or TorqueArrowScale to zero and we could prevent the user to put <=0 values (and set 0<alpha<1)
ThibaultLacharme
commented
5 years ago 
It doesn't work with the current amphion version but once the pull request for wrench_stamped will be merged and amphion gets updated it should work (at least it does on my branch with the package.json using my version of amphion "Git+https://github.com/ThibaultLacharme/amphion#wrench_stamped")
Note that there is still something odd which happens when setting forceArrowScale or TorqueArrowScale to zero and we could prevent the user to put <=0 values (and set 0<alpha<1)