Handle the case in which a parametric link is not a box, cylinder or sphere

[S-Dafarra]

When specifying a link as a parametric, only the box, sphere, and cylinder cases seem to be supported. In fact, looking at the code of compute_volume, if we are not in one of the three cases mentioned, the output volume is 0, while visual_data_new is not defined.

Similarly, the inertia computation is done only in these three cases.

It would be useful to trigger a meaningful error when the input link is not a box, cylinder or sphere, but defined by a mesh for example.

cc @CarlottaSartore

[S-Dafarra]

Throwing an exception in 8e25f02 (included in #72)