What I’m asking mainly encompasses programming skills. In some tournaments my team has been able to reset cubes during programming skills and sometimes we haven’t been able, I’m wondering if this is allowed. Thank you
The question, “is it allowed”, means we must look to the game manual for the answer. For your question, carefully read RSC-5, which explains handling a robot during programming skills, and placing game elements in possession of the robot in an unscored position.
Not all tournaments will have certified referees who know the rules, which may explain the variation you have encountered. It will be great, someday in the future, when every tournament must use certified referees.