def METHOD_NAME(self):
    controller = AcrobotSpongController()
    context = controller.CreateDefaultContext()
    expected_parameters = SpongControllerParams()
    actual_parameters = controller.get_parameters(context)
    self.assertEqual(actual_parameters.k_e(), expected_parameters.k_e())
    self.assertEqual(actual_parameters.k_p(), expected_parameters.k_p())
    self.assertEqual(actual_parameters.k_d(), expected_parameters.k_d())
    self.assertEqual(actual_parameters.balancing_threshold(),
                     expected_parameters.balancing_threshold())