[jhanca-robotecai]

What does this PR do?

• Fix duplicate wheel position loop in InitJacobian: the position-gathering loop ran twice, causing meanWheelPosition to accumulate 2x the correct sum and shifting all relative wheel positions
• Auto-compensate for mirrored wheel meshes: added per-wheel m_wheelAxisSign computed at activation by comparing each wheel entity's spin axis direction against the robot body's spin axis
• Remove Eigen dependency, replace with AZ::Math:
  • Eigen::MatrixXd -> AZ::MatrixMxN
  • Eigen::VectorXd -> AZ::VectorN
  • Eigen::Vector3d / Eigen::Vector2d -> AZ::Vector3 / AZ::Vector2
  • Matrix-vector multiply -> AZ::VectorMatrixMultiply

Removing Eigen was done to solve RobotecAI/agentic-mobile-manipulator#31

The version of the Gem was updated to 2.0.0, as 1.x.y serie is used for o3de-2505 branch.

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How was this PR tested?

Tested using https://github.com/RobotecAI/agentic-mobile-manipulator/ demo project
The Robot needed updates of the controller:

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Screenshots / Logs / Supporting Evidence (if applicable)

wheel_anim.mp4

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Committer Checklist

Please confirm the following before marking this PR as ready for review:

• Code changes are well-documented
• Tests have been added or updated
• Code owners file and CI config were updated if new Gem was added
• The code is formatted according to the project's style guide
• The version number has been updated according to the contributing guidelines

[knicked]

I applied the suggested updates in RobotecAI/agentic-mobile-manipulator#32 and tested the changes, LGTM