This is a bit complicated, but here is a one-line converter for converting a single character:
>>> emoji = '\U0001f64f'
>>> ''.join(chr(x) for x in struct.unpack('>2H', emoji.encode('utf-16be')))
'\ud83d\ude4f'
Converting a mix of characters requires surrounding this expression with another:
>>> emoji_str = 'Here is a non-BMP character: \U0001f64f'
>>> ''.join(c if c <= '\uffff' else ''.join(chr(x) for x in struct.unpack('>2H', c.encode('utf-16be'))) for c in emoji_str)
'Here is a non-BMP character: \ud83d\ude4f'
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