This proved to be quite tricky. I did so for Python 2 and Python 3. Here are my notes:
$ cat /etc/udev/rules.d/51-trezor.rules
SUBSYSTEM=="usb", ATTR{idVendor}=="534c", ATTR{idProduct}=="0001", MODE="0666", GROUP="dialout", SYMLINK+="trezor%n"
KERNEL=="hidraw*", ATTRS{idVendor}=="534c", ATTRS{idProduct}=="0001", MODE="0666", GROUP="dialout"
sudo apt-get install -y build-essential libusb-1.0-0-dev libusb-dev
sudo apt-get install -y python-dev virtualenv
virtualenv --no-setuptools --no-wheel --no-pip --no-site-packages
. ./virtualenv/bin/activate
wget https://bootstrap.pypa.io/get-pip.py
python ./getpip.py
pip install Cython
pip instal trezor
sudo apt-get install -y python3-dev python-venv
python3 -m venv virtualenv
. ./virtualenv/bin/activate
pip install wheel
pip install --upgrade setuptools
pip install hidapi
pip install trezor