I got tired of squinting at the tiny little font on the printed manual, so here is my Pico layout in ASCII text, suitable for Emacs Org mode. If you edit this with Org mode you can easily update and change it for different layouts.
Eigenharp Pico Main Controls
|--------------------------------+------------------|
| 1. Drummer & Metronome Control | 9. Sampler 1 |
| 2. Scale Control | 10. Sampler 2 |
| 3. Key Control | 11. Sampler 3 |
| 4. Instrument/FX Control | 12. Audio Unit 1 |
| 5. Recording Control | 13. Audio Unit 2 |
| 6. Inline FX Control | 14. Cello |
| 7. Scheduler Control | 15. Clarinet |
| 8. Drummer Volume Control | 16. MIDI Out |
|--------------------------------+------------------|
1. Drummer and Metronome Control
|---------------------------+---------------------|
| 1. Drummer voice 1 browse | 9. Drummer voice 1 |
| 2. Drummer voice 2 browse | 10. Drummer voice 2 |
| 3. Drummer voice 3 browse | 11. Drummer voice 3 |
| 4. Drummer voice 4 browse | 12. Drummer voice 4 |
| 5. Drummer voice 5 browse | 13. Drummer voice 5 |
| 6. Drummer voice 6 browse | 14. Drummer voice 6 |
| 7. Metronome beat top | 15. Clicker on/off |
| 8. Metronome bar tap | 16. Tempo up/down |
|---------------------------+---------------------|
2. Scale Control
|----------------------------------+-----------------|
| 1. Browse scale for adjacent key | 9. Set scale 1 |
| 2. Browse scale for adjacent key | 10. Set scale 2 |
| 3. Browse scale for adjacent key | 11. Set scale 3 |
| 4. Browse scale for adjacent key | 12. Set scale 4 |
| 5. Browse scale for adjacent key | 13. Set scale 5 |
| 6. Browse scale for adjacent key | 14. Set scale 6 |
| 7. Browse scale for adjacent key | 15. Set scale 7 |
| 8. Browse scale for adjacent key | 16. Set scale 8 |
|----------------------------------+-----------------|
3. Key Control
|--------------------+---------------------|
| 1. Set tonic to C | 9. Set tonic to G# |
| 2. Set tonic to C# | 10. Set tonic to A |
| 3. Set tonic to D | 11. Set tonic to A# |
| 4. Set tonic to D# | 12. Set tonic to B |
| 5. Set tonic to E | 13. |
| 6. Set tonic to F | 14. |
| 7. Set tonic to F# | 15. |
| 8. Set tonic to G | 16. |
|--------------------+---------------------|
4. Instrument/FX Control
|--------------------------------+--------------------------|
| 1. Mode Key | 9. Sampler 1 Control |
| 2. Mixer master volume up/down | 10. Sampler 2 Control |
| 3. Mixer browse | 11. Sampler 3 Control |
| 4. FX Send 1 AU browse | 12. AU 1 Control |
| 5. FX Send 1 AU GUI show/hide | 13. AU 2 Control |
| 6. FX Send 2 AU browse | 14. Cello Control |
| 7. FX Send 2 AU GUI show/hide | 15. Clarinet Control |
| 8. | 16. MIDI & Audio Control |
|--------------------------------+--------------------------|
5. Recording Control
|--------------+--------------------|
| 1. Sampler 1 | 9. Record 1 bar |
| 2. Sampler 2 | 10. Record 2 bars |
| 3. Sampler 3 | 11. Record 4 bars |
| 4. AU 1 | 12. Record 8 bars |
| 5. AU 2 | 13. Record 16 bars |
| 6. Cello | 14. Record 32 bars |
| 7. Clarinet | 15. Un Play |
| 8. MIDI out | 16. Cancel |
|--------------+--------------------|
6. Inline FX Control
|--------------------------+----------------------------------|
| 1. AU Inline FX 1 browse | 9. AU Inline FX 1 enable/bypass |
| 2. AU Inline FX 2 browse | 10. AU Inline FX 1 enable/bypass |
| 3. AU Inline FX 3 browse | 11. AU Inline FX 1 enable/bypass |
| 4. AU Inline FX 4 browse | 12. AU Inline FX 1 enable/bypass |
| 5. AU Inline FX 5 browse | 13. AU Inline FX 1 enable/bypass |
| 6. AU Inline FX 6 browse | 14. AU Inline FX 1 enable/bypass |
| 7. AU Inline FX 7 browse | 15. AU Inline FX 1 enable/bypass |
| 8. | 16. |
|--------------------------+----------------------------------|
7. Scheduler Control
|----+-------------------|
| 1. | 9. Recorded take |
| 2. | 10. Recorded take |
| 3. | 11. Recorded take |
| 4. | 12. Recorded take |
| 5. | 13. Recorded take |
| 6. | 14. Recorded take |
| 7. | 15. Recorded take |
| 8. | 16. Recorded take |
|----+-------------------|
8. Drummer Volume Control
|---------------------+----------------------------|
| 1. . | 9. Drummer 1 up/down |
| 2. | 10. Drummer 2 up/down |
| 3. | 11. Drummer 3 up/down |
| 4. | 12. Drummer 4 up/down |
| 5. | 13. Drummer 5 up/down |
| 6. | 14. Drummer 1 up/down |
| 7. Metronome browse | 15. Clicker up/down |
| 8. Drummer Browse | 16. Drummer master up/down |
|---------------------+----------------------------|
9 to 13. Sampler 1, 2, 3, and Audio Unit 1, 2 Control
|-------------------------------+-----------------------------|
| 1. Mode Key | 9. Sampler n volume +/- |
| 2. Mixer master volume +/- | 10. Sampler n pan |
| 3. Mixer browse | 11. Sampler n sample browse |
| 4. FX Send 1 AU browse | 12. FX Send 1 AU up/down |
| 5. FX Send 1 AU GUI show/hide | 13. FX Send 2 AU up/down |
| 6. FX Send 2 AU browse | 14. Delay Send up/down |
| 7. FX Send 2 AU GUI show/hide | 15. |
| 8. | 16. |
|-------------------------------+-----------------------------|
14. Cello Control
|-------------------------------+--------------------------|
| 1. Mode Key | 9. Cello volume +/- |
| 2. Mixer master volume +/- | 10. Cello pan |
| 3. Mixer browse | 11. Cello impulse browse |
| 4. FX Send 1 AU browse | 12. Cello mono on/off |
| 5. FX Send 1 AU GUI show/hide | 13. FX Send 1 AU up/down |
| 6. FX Send 2 AU browse | 14. FX Send 2 AU up/down |
| 7. FX Send 2 AU GUI show/hide | 15. Delay Send up/down |
| 8. | 16. |
|-------------------------------+--------------------------|
15. Clarinet Control
|-------------------------------+--------------------------|
| 1. Mode Key | 9. Clarinet volume +/- |
| 2. Mixer master volume +/- | 10. Clarient pan |
| 3. Mixer browse | 11. Clarinet mono on/off |
| 4. FX Send 1 AU browse | 12. FX Send 1 AU up/down |
| 5. FX Send 1 AU GUI show/hide | 13. FX Send 2 AU up/down |
| 6. FX Send 2 AU browse | 14. Delay Send up/down |
| 7. FX Send 2 AU GUI show/hide | 15. |
| 8. | 16. |
|-------------------------------+--------------------------|
16. MIDI Out Control
|-------------------------------+-----------------------|
| 1. Mode Key | 9. MIDI port browse . |
| 2. Mixer master volume +/- | 10. Audio port browse |
| 3. Mixer browse | 11. . |
| 4. FX Send 1 AU browse | 12. . |
| 5. FX Send 1 AU GUI show/hide | 13. . |
| 6. FX Send 2 AU browse | 14. |
| 7. FX Send 2 AU GUI show/hide | 15. |
| 8. | 16. |
|-------------------------------+-----------------------|