Allow underscore aliases for spawned agent IDs

[jahooma]

Summary

• Accept underscores as aliases for hyphens in spawned agent IDs during lookup and permission matching.
• Resolve canonical agent IDs for spawn validation without changing publisher or version syntax.
• Add regression coverage for simple and published underscored agent_type values.

Testing

• bun test packages/agent-runtime/src/tests/spawn-agents-permissions.test.ts
• bun test packages/agent-runtime/src/tests/prompts-schema-handling.test.ts
• bun run typecheck (common)
• bun run typecheck (packages/agent-runtime)
• bun run test (packages/agent-runtime)

[greptile-apps]

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