The whole Python's API is available here: https://pollen-robotics.github.io/reachy/.
The inline documentation can also be accessed directly from Python using instrospection. For instance:
In : from reachy import Reachy In : print(Reachy.__doc__) Class representing the connection with the hardware robot. Connect and synchronize with the hardware robot. Args: left_arm (reachy.parts.LeftArm): left arm part if present or None if absent right_arm (reachy.parts.RightArm): right arm part if present or None if absent head (reachy.parts.Head): hrad part if present or None if absent It can be used to monitor real time robot state and to send commands. Mainly a container to hold the different parts of Reachy together. In : help(Reachy)