Here is the full list of all 31 TOKOYO: The Tower of Perpetuity achievements.
Defeat the Demon Queen Erloa
Defeat the Immortal Nanaha
View the ending with Cocoa
Get hugged by a Succubus 5 times
Reach the summit three days in a row
Defeat Riim the Irreversible End
View ending with Kukuri
Collect 101 log pieces
View ending with Shippo
Reach the summit two days in a row
View ending with Imibi
Collect 50 log pieces
View ending with Kanae
Defeat Lula of the Dark Star
Get hugged by a Maid Succubus 5 times
Achieve 5 bonus score chains
Get your blood sucked by a Vampire 5 times
Collect 25 log pieces
Reach maximum karma
Climb 250 floors
Collect 10 log pieces
Reach the Unknown Hopeless Area
Climb 100 floors
Reach the Hopeless Area
Reach the Absolute Danger Area
Climb 50 floors
Climb 25 floors
Reach the Danger Area
Reach the Light Danger Area
Achieve 10 bonus score chains
Achieve 20 bonus score chains