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I believe this is the fix:
diff --git a/Makefile b/Makefile
index 8bbd1b6..0de8a89 100644
--- a/Makefile
+++ b/Makefile
@@ -349,7 +349,7 @@ install-caravel-cocotb:
.PHONY: setup-cocotb-env
setup-cocotb-env:
- @(python3 $(PROJECT_ROOT)/verilog/dv/setup-cocotb.py $(CARAVEL_ROOT) $(MCW_ROOT) $(PDK_ROOT) $(PDK) $(PROJECT_ROOT))
+ @(./venv-cocotb/bin/$(PYTHON_BIN) $(PROJECT_ROOT)/verilog/dv/setup-cocotb.py $(CARAVEL_ROOT) $(MCW_ROOT) $(PDK_ROOT) $(PDK) $(PROJECT_ROOT))
.PHONY: setup-cocotb
setup-cocotb: install-caravel-cocotb setup-cocotb-env simenv-cocotb
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