I haven't tried the Yamaha P85, but it's often said here that it's the lowest end Yamaha DP, with only 1-layer sampling and using the lowest level of Yamaha keyboard action. Yet some people say they are satisfied playing it and like the sound.
On paper, the PX-130 wins out with because of the 4-layer sampling. I quite like the keyboard touch of these newer Privia models but haven't directly compared them with the P85's action so I can't comment on that. The PX-130 is a basic stage piano model.
I am not particularly fond of the CDP-200 because it uses the older Casio ZPI sound source (they currently use the AIF sound source in the Privias and Celvianos) and I don't like the action much either (uses Casio's older keyboard action). It, however, has a lot of bells and whistles like rhythms, voices, and an LCD screen unlike the PX-130. But it has lower polyphony (64 if I remember right).
It's best to get a separate aftermarket pedal because the pedals that come with these stage pianos don't feel like a real pedal at all.
In the end, it's best to decide with your own hands and ears
