Update 04_ik_allow_collision.py

[ardozcnn]

This PR modernizes the IK collision example script by adopting Python f-strings, adding type annotations to the helper function, and incorporating clear docstrings to improve readability and code quality.

What type of change is this?

• Bug fix in a backwards-compatible manner.
• New feature in a backwards-compatible manner.
• Breaking change: bug fix or new feature that involve incompatible API changes.
• Other (e.g. doc update, configuration, etc)

Checklist

• I added a line to the CHANGELOG.md file in the Unreleased section under the most fitting heading (e.g. Added, Changed, Removed).
• I ran all tests on my computer and it's all green (i.e. invoke test).
• I ran lint on my computer and there are no errors (i.e. invoke lint).
• I added new functions/classes and made them available on a second-level import, e.g. compas_fab.robots.CollisionMesh.
• I have added tests that prove my fix is effective or that my feature works.
• I have added necessary documentation (if appropriate)

[gonzalocasas]

Thanks for the contribution! Super appreciated!!!

I like the switch to f-strings! I would ask you to use the "single-import per line" thou (I think the linter is configured to enforce that), and I would actually keep the output text, because it helps a first time user to understand what to expect

[ardozcnn]

Thank you for the feedback! I've updated the script to follow the single-import per line rule and restored the expected output docstring block at the bottom as requested.

[gonzalocasas]

Awesome! Thanks!!!