def METHOD_NAME(self):
    # Load up an acrobot.
    acrobot_file = FindResourceOrThrow(
        "drake/multibody/benchmarks/acrobot/acrobot.urdf")
    builder = DiagramBuilder()
    plant, scene_graph = AddMultibodyPlantSceneGraph(builder, 0.0)
    parser = Parser(plant)
    parser.AddModels(acrobot_file)
    plant.Finalize()
    # Construct a sliders system, using every available option.
    meshcat = Meshcat()
    dut = JointSliders(
        meshcat=meshcat,
        plant=plant,
        initial_value=[0.1, 0.2],
        lower_limit=[-3.0, -6.0],
        upper_limit=[3.0, 6.0],
        step=[0.25, 0.50],
        decrement_keycodes=["ArrowLeft", "ArrowDown"],
        increment_keycodes=["ArrowRight", "ArrowUp"],
    )
    # Various methods should not crash.
    dut.get_output_port()
    dut.Delete()
    # The constructor also accepts single values for broadcast (except for
    # the initial value).
    dut = JointSliders(
        meshcat=meshcat,
        plant=plant,
        initial_value=[0.1, 0.2],
        lower_limit=-3.0,
        upper_limit=3.0,
        step=0.1,
    )
    dut.Delete()
    # The constructor also accepts None directly, for optionals.
    dut = JointSliders(
        meshcat=meshcat,
        plant=plant,
        initial_value=None,
        lower_limit=None,
        upper_limit=None,
        step=None,
    )
    dut.Delete()
    # The constructor has default values, in any case.
    dut = JointSliders(meshcat, plant)
    # The Run function doesn't crash.
    builder.AddSystem(dut)
    diagram = builder.Build()
    q = dut.Run(diagram=diagram,
                timeout=1.0,
                stop_button_keycode="ArrowLeft")
    np.testing.assert_equal(q, [0, 0])
    # The SetPositions function doesn't crash (Acrobot has two positions).
    dut.SetPositions(q=[1, 2])