The Yelp Help Browser supports opening documents from the command line. A number of URIs (Uniform Resource Identifiers) can be used, including the following:
Accesses a file with Yelp, for example:
yelp file:///usr/share/gnome/help/gcalctool/C/gcalctool.xml
Accesses GNOME help documents, which are written in DocBook format.
yelp ghelp:gcalctool
If you want to open the help document at a particular section, append a question mark to the end of the URI, followed by the section ID.
yelp ghelp:user-guide?yelp-advanced-cmdline
Accesses a particular man page. You can append the section of the man page you would like to view if there are multiple man pages with the same name. The section number must be enclosed in parenthesis and you might have to escape the argument so that the shell does not interpret the parenthesis.
yelp man:gcalctool
or
yelp 'man:intro(1)' yelp 'man:intro(2)'
Accesses the specified GNU info page.
yelp info:make