You don't need the full ABI assuming you know the specific function signature you are trying to call.
I see you asked for web3.py but I'm not familiar with that. Here's the API's of interest from web3.js... hopefully you can find the equivalent in .py.
https://web3js.readthedocs.io/en/1.0/web3-eth-abi.html#encodefunctioncall
https://web3js.readthedocs.io/en/1.0/web3-eth.html#sendtransaction
So the code looks something like:
let call = web3.eth.abi.encodeFunctionCall({
name: 'myMethod',
type: 'function',
inputs: [{
type: 'uint256',
name: 'myNumber'
},{
type: 'string',
name: 'myString'
}]
}, ['2345675643', 'Hello']);
let tx = await web3.eth.sendTransaction(call, {to: contract_address})
hth