Added demo instructions

Author: Dozgulbas

tests/RUN_DEMO.md

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+# Running OpenArm Demos
+
+This guide shows you how to run the included demonstration examples on your OpenArm bimanual robot.
+
+## Prerequisites
+
+- OpenArm module installed and configured
+- Robot powered on and connected via CAN bus
+- CAN interfaces configured (should auto-configure via udev rules)
+
+## Safety First: Move to Zero Position
+
+**IMPORTANT:** Always start by moving the arms to their zero position before running any demo.
+
+```bash
+cd ~/humanoids/openarm_module
+python scripts/move_to_zero.py
+```
+
+This ensures the robot starts from a safe, known configuration.
+
+---
+
+## Demo 1: Wave Demo (Scripted Motion)
+
+A simple scripted demonstration where both arms perform a wave motion.
+
+```bash
+cd ~/humanoids/openarm_module
+python tests/openarm_wave_demo.py
+```
+
+**What it does:** Moves right arm in a synchronized waving pattern.
+
+---
+
+## Demo 2: Replay Recorded Demonstrations
+
+The following demos replay teleoperated demonstrations that were previously recorded.
+
+### RPL Demo 1
+
+```bash
+lerobot-replay \
+    --robot.type=bi_openarm_follower \
+    --robot.left_arm_config.port=can1 \
+    --robot.left_arm_config.side=left \
+    --robot.right_arm_config.port=can0 \
+    --robot.right_arm_config.side=right \
+    --dataset.fps=60 \
+    --dataset.repo_id=$HOME/humanoids/openarm_module/tests/rpl_demo \
+    --dataset.episode=0
+```
+
+### RPL Demo 2
+
+```bash
+lerobot-replay \
+    --robot.type=bi_openarm_follower \
+    --robot.left_arm_config.port=can1 \
+    --robot.left_arm_config.side=left \
+    --robot.right_arm_config.port=can0 \
+    --robot.right_arm_config.side=right \
+    --dataset.fps=60 \
+    --dataset.repo_id=$HOME/humanoids/openarm_module/tests/rpl_demo2 \
+    --dataset.episode=0
+```
+
+### RPL Demo 3
+
+```bash
+lerobot-replay \
+    --robot.type=bi_openarm_follower \
+    --robot.left_arm_config.port=can1 \
+    --robot.left_arm_config.side=left \
+    --robot.right_arm_config.port=can0 \
+    --robot.right_arm_config.side=right \
+    --dataset.fps=60 \
+    --dataset.repo_id=$HOME/humanoids/openarm_module/tests/rpl_demo3 \
+    --dataset.episode=0
+```
+
+---
+
+## Safety Notes
+
+- Always ensure the workspace is clear before running demos
+- Keep the emergency stop within reach
+- Start with `move_to_zero.py` before each demo session
+- If the robot behaves unexpectedly, press Ctrl+C to stop execution
+
+---
+
+## Recording Your Own Demos
+
+To record your own demonstrations:
+
+```bash
+lerobot-record \
+    --robot.type=bi_openarm_follower \
+    --robot.left_arm_config.port=can1 \
+    --robot.left_arm_config.side=left \
+    --robot.right_arm_config.port=can0 \
+    --robot.right_arm_config.side=right \
+    --teleop.type=openarm_bi_gamepad_joints \
+    --teleop.joint_velocity_scale=60.0 \
+    --dataset.repo_id=$HOME/humanoids/openarm_module/examples/my_demo \
+    --dataset.single_task="Your task description" \
+    --dataset.fps=60 \
+    --dataset.num_episodes=1 \
+    --dataset.episode_time_s=30 \
+    --dataset.reset_time_s=10 \
+    --dataset.push_to_hub=false
+```
+
+See the main [README.md](README.md) for full teleoperation and recording instructions.