How to do pick and place of an object using commander scripting?

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I am a beginner to this. I intend to do a pick and place of object from the moveit command line using panda robotic arm

The problem I am facing is that I am not understanding how to place any object in the scene and pick it up later (using command line). I tried to use the 'place' command, but I don't think that I am doing it the right way.

Any help walking through the solution is appreciated.

Thank you