Implement Invariant Handshake Adapter for Legacy Hardware Interoperability

[dfeen87]

Implements the Invariant Handshake geometric stability adapter into the UFO architecture as a native Python adapter module (radial_membrane_ai/adapters/invariant_handshake.py). Integrates with AdmissibilityGate and UFO engines (SingleAgentEngine, MultiAgentEngine, MultiClusterEngine, WorkloadEngine), exposes CLI flags (--legacy-handshake, --legacy-mode), and includes comprehensive unit/integration tests, example script, and documentation.

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PR created automatically by Jules for task 18283122151682405086 started by @dfeen87

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