def METHOD_NAME(self):
    builder = DiagramBuilder()
    plant = builder.AddSystem(MultibodyPlant(1.))
    parser = Parser(plant)
    directives = LoadModelDirectives(FindResourceOrThrow(
        "drake/manipulation/util/test/iiwa7_wsg.dmd.yaml"))
    models_from_directives = ProcessModelDirectives(directives, parser)
    plant.Finalize()
    self.assertEqual(len(builder.GetSystems()), 1)
    mut.BuildSchunkWsgControl(
        plant=plant,
        wsg_instance=plant.GetModelInstanceByName("schunk_wsg"),
        lcm=DrakeLcm(), builder=builder, pid_gains=[2., 3., 4.])
    self.assertEqual(len(builder.GetSystems()), 7)