(moveit_py) Custom typecaster collision_detection::AllowedCollision::Type

[JensVanhooydonck]

Is your feature request related to a problem? Please describe.
Create a custom typecaster/revise the current implementation to return std::pair<bool,
// collision_detection::AllowedCollision::Type> in the get_entry function.

https://github.com/ros-planning/moveit2/pull/2551/files#r1405832696

Describe the solution you'd like
A custom typecaster for AllowedCollision::Type

Additional context
Currently as a fallback we cast to a string and return that.

[github-actions]

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