Robot TCP Velocity calculation

Summary

Creating a manual test case with the panda robot I found that the TCP velocities calculated are not near what expected (> 50% off).

Steps to reproduce

from timor import Robot
import numpy as np
from timor.utilities.file_locations import robots
import pinocchio as pin

robot = Robot.PinRobot.from_urdf(robots['panda'].joinpath('urdf').joinpath('panda.urdf'), robots['panda'].parent)
q = np.zeros(7,)
dq = np.asarray((0., 1., 0., 0., 0., 0., 0.))
robot.update_configuration(q, dq)
robot.tcp_velocity  # [-3.33000000e-01,  6.16297582e-33,  0.00000000e+00,  0.00000000e+00, 1.00000000e+00,  2.22044605e-16] - seems off
pin.getFrameVelocity(robot.model, robot.data, robot.tcp)  # [ 5.93000000e-01, -5.86197757e-17,  8.80000000e-02,  0.00000000e+00, -1.00000000e+00, -6.66133815e-16] - pretty exectly result of manual calculation

What is the current bug behavior?

(What actually happens)

What is the expected correct behavior?

(What you should see instead)

Relevant logs and/or screenshots

(Paste any relevant logs - please use code blocks (```) to format console output, logs, and code, as it's very hard to read otherwise.)

Possible fixes

(If you can, link to the line of code that might be responsible for the problem)

/cc @JonathanKuelz