The TNY-360 documentation is currently being written.
For immediate instructions, please refer to :
Estimated full release: End of February.
It should look something like this, though :
from tny_360 import TNY360
robot = TNY360('192.168.1.42')
print("Connecting to robot...")
success = robot.connect()
if success:
print("Robot connected")
else:
print("Robot not connected")