mpris-python is a simple command line MPRIS2 client which doubles as a rudimentary MPRIS client library. It allows you to send commands to any MPRIS2 compatible media player from the command line. The pydbus library is used to communicate with the media player.
Check mpris.py -h for available commands and options.
Note that media players can restrict what commands MPRIS clients may send them, and some MPRIS interfaces and methods are optional. Audacious 4.2 is known not to support opening media via MPRIS, and none of the players I use support org.mpris.MediaPlayer2.TrackList or org.mpris.MediaPlayer2.Playlists.