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The sketch here is a little stale but shows the general idea.
I was hoping to decouple the designs from any particular vendor as much as I could so I would interface with the core (dut) with a Cocotb AXI Lite master to get/set registers. Then if I were using something like an AXI Stream to send/receive audio or video data there was a Cocotb python driver to process the data in the test bench. As an example, in part 5 the graphics core generated a 16x4 color bar image over AXI video stream that was captured by a Cocotb AXI Stream sink and then 'displayed' as hex values in one of the test.