There is no single command that will get the complete content of the Digital Twin graph. However, you can do it by making multiple calls through the SDK. The approach is as follows:
Query all the twins
query_expression = 'SELECT * FROM digitaltwins'
query_result = service_client.query_twins(query_expression)
Loop through the results and get the Incoming or Outgoing relationships for each twin.
service_client.list_relationships(digital_twint_id)
You can also get all the models through the SDK
listed_models = service_client.list_models()
There's documentation for the Python SDK