It's normal for commands to start with the path. Otherwise the shell should look for them in the paths in the $PATH variable of the shell. It is not just fine, but better to point with the full path when you want to make sure that "those files" should be executed, and not others with the same name. It's THE way to go (specially when extra security is needed).
Do I simply put these commands in rc.local? If so How? Iread somewhere that you enter commands as you would in a terminal?
also you might (as in "I'm not sure if it's needed") have to make it executable by changing the permissions with chmod +x <file>