This paper presents path and trajectory generation tools within the RobotBlockSet (RBS) framework, emphasizing efficient robotic motion planning and execution. The methods enable the generation of smooth paths in joint and Cartesian spaces, considering motion constraints like velocity and acceleration limits. The framework also supports advanced trajectory parameterization techniques, including interpolation, time-optimal parameterization, and obstacle avoidance. A case study on a redundant manipulator highlights the practical application of these tools, demonstrating their ability to generate safe and optimal motion paths in complex environments.