ASTRA HAS BEEN UTTER SHIT.
It is much more expensive than Sol 5.6 Medium / High and did nothing but write unit tests and junk code, despite having access to the vendor original source, an API, and the full tank specs.
Failure Examples:
* In two instances had the direction of the servos wrong.
* Calculated the maximum extent of the gripper wrong, and the closure, so it didn't grip.
* Code failed to take into account the gripper requires continuous torque when lifting a pair of socks, so couldn't lift.
* Failed to actually start physical testing more than opening and closing the gripper, and that was when I asked about progress.
* Code failed quite spectacularly to calculate camera gimbal extent range correctly.
* Code failed to use the ultrasonic in range to target until I pointed it out, the skill also didn't advise gimbal angle adjustment to correct range overshoot to the wall behind a small object.
The test environment has both an onboard ultrasonic for distance, onboard camera, and a bird eyes view camera (birds eyes only while training).
I've stopped using Astra Low (default) and gone back to Sol 5.6 low/medium/high for the training, it's cheaper and now I'm back to fine tuning, after it had to redo large chunk of the gripper/arm code and prevent unnecessary hard stop code kicking in based on the wrong profiling.
It's cost me around 1000 to 1250 credits (£50), burnt in around 2 hours, looking mostly at recorded video, and photos, and writing bad code based on bad assumptions. I've also burnt through regular Plus 5 hour quota in about 30-45 minutes with it.