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pybind11 type caster for `sycl::half` (#1655)

* Implements type caster for sycl::half and removes unboxing_helper.hpp

`py::cast<sycl_half>` being available makes PythonObjectUnboxer redundant

* Apply changes per review to sycl::half caster

* Remove unnecessary check for py_err and unneeded PyErr_Clear call per PR feedback

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