AW provides bidirectional sync between Asana and Taskwarrior so you can use Taskwarrior as a CLI to Asana. It's being used by various folks at Dgraph for all interactions with Asana tasks.
This project is no longer being maintained by myself. The project works well
and was being used by me and couple other people, until we stopped using
Asana. If you're interested in maintaining this, please feel free to reach out
(create a Github issue). -Manish