prepare to create coordinate frame demo, minor cleanup for create funcs in demo entries,

fix r2d2.urdf inertia

Demos3/AllBullet2Demos/main.cpp

@@ -321,7 +321,7 @@ void openURDFDemo(const char* filename)
     
     s_parameterInterface->removeAllParameters();
    
-    ImportUrdfDemo* physicsSetup = new ImportUrdfDemo();
+    ImportUrdfSetup* physicsSetup = new ImportUrdfSetup();
     physicsSetup->setFileName(filename);
     
     sCurrentDemo = new BasicDemo(app, physicsSetup);