Hello Ayong
At first glance, there doesn’t seem to be anything wrong with your configs. I’m not sure what you mean when you say that you can only ping “peer routers”. I assume you mean you can ping from the ASA to each individual router?
If you are unable to ping, then there may be something else configured in the ASA that is blocking this. I believe the easiest way to find it is to use the packet tracer feature of the ASA. This will tell you how and why a particular packet is dropped. You can find out more about it at the following lesson:
Let us know how your troubleshooting efforts are going.
I hope this has been helpful!
Laz