Robotic manipulators are used in many different scenarios these days. If one of these manipulators is moved from one location to another it may require a total reprogramming of that manipulator because of the new environment the robot is working in. This is because the path planning and trajectory planning scheme which works in one environment might not be suitable in another. This text takes a look at how an intuitive and easy to use motion planning framework for finding paths in different static environments or scenarios can be made. The use of the Open Motion Planning Library has been used for the path planning and second-order cone programming solved by SeDuMi in Matlab has been used for finding the time-optimal trajectory.