def METHOD_NAME(args=None):
    """Command-line execution of the example.
    :param args: arguments for script to parse, if not specified will use sys.argv
    """
    parser = OptionParser(description='Shows how to generate a 6D inverse kinematics solver and use it for getting all solutions.')
    OpenRAVEGlobalArguments.addOptions(parser)
    parser.add_option('--scene',action="store",type='string',dest='scene',default='data/lab1.env.xml',
                      help='Scene file to load (default=%default)')
    parser.add_option('--transparency',action="store",type='float',dest='transparency',default=0.8,
                      help='Transparency for every robot (default=%default)')
    parser.add_option('--maxnumber',action="store",type='int',dest='maxnumber',default=10,
                      help='Max number of robots to render (default=%default)')
    parser.add_option('--manipname',action="store",type='string',dest='manipname',default=None,
                      help='name of manipulator to use (default=%default)')
    (options, leftargs) = parser.parse_args(args=args)
    OpenRAVEGlobalArguments.parseAndCreateThreadedUser(options,main,defaultviewer=True)