Steam the asparagus until crisp-tender and plunge into cold water to stop cooking. Zest the orange and then peel and cut into segments, (catch any juice in a bowl and also squeeze any remaining juice from what is left after segmenting). Peel and seed the avocado and cut into chunks.
Place all of the salad ingredients in a medium bowl and set aside to make vinaigrette.
In a small bowl, whisk all vinaigrette ingredients together except salt,pepper and oil. Whisk oil in slowly until emulsified. Taste and adjust seasoning to your liking. If the oranges are tart, you might want to add a little sugar. Or you may want to increase mustard slightly. Just make it to your taste.
Toss salad ingredients with some of the dressing to coat, and serve as is or on a small bed of greens. Pass any remaining dressing.