There is a URCap example showing how to start a python daemon.
The only thing you have to keep in mind is the robot runs python2.7 and installing 3 onto that architecture can be a bit finicky. If you can create a binary using something like pyinstaller you can use the same daemon to launch it.
It runs specifically python2.7 with ucs4 unicoding on a 32bit machine…
meaning that you will need python packages with cp27mu-manylinux1_i686 in their name.
In most cases you can therefore not simply copy the packages from your own PC.