def METHOD_NAME(self):
    dut = mut.IiwaDriver()
    dut.hand_model_name = "schunk_wsg"
    dut.ext_joint_filter_tau = 0.12
    dut.lcm_bus = "test"
    self.assertIn("lcm_bus", repr(dut))
    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()
    model_dict = dict()
    for model in models_from_directives:
        model_dict[model.model_name] = model
    lcm_bus = LcmBuses()
    lcm_bus.Add("test", DrakeLcm())
    self.assertEqual(len(builder.GetSystems()), 1)
    mut.ApplyDriverConfig(
        driver_config=dut, model_instance_name="iiwa7",
        sim_plant=plant, models_from_directives=model_dict, lcms=lcm_bus,
        builder=builder)
    self.assertEqual(len(builder.GetSystems()), 13)