If you are doing operation this from a external JVM, then take look at the "admin-shell" kit for all the needed libraries. In those you can take out groovy based dependencies if you want. You can also take look at "teiid-admin" project's pom.xml file for dependencies if you are trying to build programmatically using maven.
Yes, you can use "deploy" call AdminAPI to deploy a jar file as module in JBoss AS. For the name of the JAR module see this thread What is the JBoss Module name for a deployed jar