The way I'm doing it is to access the endpoint, the same way I would access any other Discovery-based API hosted somewhere else, by using use the Google APIs Client Library for Python which is compatible with endpoints.
Normally you would build a client for one of the Google APIs using service = build(api, version, http=http)
for example service = build("plus", "v1", http=http)
to build a client to access to Google+ API.
For using the library for your endpoint you would use:
service = build("your_api", "your_api_version", http=http,
discoveryServiceUrl=("https://yourapp.appspot.com/_ah/api/discovery/v1/"
"apis/{api}/{apiVersion}/rest"))
You can then access your API with
result = service.resource().method([parameters]).execute()
Might not be the most optimal way, but it works like a charm.