< RSC5 > A Team may handle their Robot as many times as desired during a Programming Skills Match. a. Upon handling the Robot, it must be immediately brought back to any legal Starting Position.
Is it legal to use a tool to setup the robot for autonomous attempts in the initial setup?
Is it legal to use the tool after resets during the minute time?
There are no rules preventing either of your questions, thus they are both legal.
Teams are advised to bear in mind the "blue box" note in RSC6:
In accordance with <G4>, Teams should be mindful of event schedules and set their Robots up as promptly as possible. The definition of “prompt” is at the discretion of the Event Partner and Head Referee, and could depend on things like how much time is left for the Robot Skills Challenge field(s) to be open, how many Teams are waiting in line, etc. As a general guideline, three seconds to calibrate a Gyro Sensor would be acceptable, but three minutes to debug a program would not.