def METHOD_NAME(controller_args):
    print("Args")
    print(controller_args)
    controller = build_controller(**controller_args)
    rgb_filename = "proc_rgb_lit_fifo.png"
    ground_truth = cv2.imread(os.path.join(IMAGE_FOLDER_PATH, rgb_filename))
    evt = controller.step(action="GetHouseFromTemplate", template=house_template)
    print(
        "Action success {0}, message {1}".format(
            evt.metadata["lastActionSuccess"], evt.metadata["errorMessage"]
        )
    )
    assert evt.metadata["lastActionSuccess"], evt.metadata["errorMessage"]
    house = evt.metadata["actionReturn"]
    with open("test_render_lit.json", "w") as f:
        print(house)
        json.dump(house, f)
    evt = controller.step(action="CreateHouse", house=house)
    print(
        "Action success {0}, message {1}".format(
            evt.metadata["lastActionSuccess"], evt.metadata["errorMessage"]
        )
    )
    assert evt.metadata["lastActionSuccess"]
    evt = controller.step(
        action="TeleportFull",
        x=3.0,
        y=0.9010001,
        z=1.0,
        rotation=dict(x=0, y=0, z=0),
        horizon=0,
        standing=True,
        forceAction=True,
    )
    controller.stop()
    assert images_near(
        evt.cv2img, ground_truth, max_mean_pixel_diff=52, debug_save=True
    )