I want to keep emacs open most of the time, and then whenever I open a text file, python file, etc (from nautilus/finder), I want it to open as a new buffer in my current emacs
You want emacs client.
Basically, set emacsclient as your default editor, and add (server-start) somewere in your emacs config.
emacsclient
(server-start)
There needs to be a running Emacs instance for emacsclient to work, but if it's a hassle it's possible to have a headless Emacs launched at login.