Wrench index error
In codels/mccdaqft_read_codels.c, lines 128 and 134 there might be a mistake in the index of w provided to the wrench.
line 128 copies the same value of w1 to the force of 'y' and 'z', and
line 134 copies the values of w2, w3 and w4 respectively to torque x,y,z, while it should be w3, w4 and w5.
This is clearly shown when testing the device, as the Fz (which is the easiest force to test) is clearly allocated in the slot dedicated to Mx.