Videos allowed on youtube for monetization

are videos with some girls shaking asses allowed on youtube for monrtization or in lingerie?

Yes. Only explicit nudity are banned from YouTube.

Notice that people can report you to YouTube if they understand your content is not suitable for YT. But this is quite rare.

Lots will get taken off, some will get marked as inappropriate for young people, and some will stay up. It's always a gamble.

As far as monetization goes, Adsense will not accept any content of a sexual nature. Your account will very likely be banned.