In the end, I decided to learn and work on ROS + MoveIt. Asgard is good for testing/debugging but very limited to do actual stuff.
It’s now way easier to plan tasks, avoid collision with environment etc… I’m not done yet but it’s promising.
I’ll report back later on this but for now here’s a quick overview 🙂
Regarding the amperage, I am still around 5A which I find weird but everything seems to work fine.