How to Copy files from ASM to filesystem and filesystem to ASM

Copy files from ASM to filesystem
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$ps -ef| grep pmon
$. oraenv
ORACLE_SID = [dbinst1] ? +ASM1
The Oracle base for ORACLE_HOME=/opt/app/11.2.0/grid is /opt/app/oracle
$asmcmd

ASMCMD> lsdg
ASMCMD> cd FRA/TESTDB/EXPDP
ASMCMD> ls
dumpfile1.dmp
dumpfile2.dmp
dumpfile3.dmp
ASMCMD> cp dumpfile1.dmp dumpfile1.dmp dumpfile1.dmp /oracle/backup/testdb/expdp
copying +FRA/TESTDB/EXPDP/dumpfile1.dmp -> /oracle/backup/testdb/expdp/dumpfile1.dmp
copying +FRA/TESTDB/EXPDP/dumpfile2.dmp -> /oracle/backup/testdb/expdp/dumpfile2.dmp
copying +FRA/TESTDB/EXPDP/dumpfile3.dmp -> /oracle/backup/testdb/expdp/dumpfile3.dmp
ASMCMD> exit

$cd /oracle/backup/testdb/expdp/
$ls -lrt dumpfile*.dmp
dumpfile1.dmp
dumpfile2.dmp
dumpfile3.dmp

Copy files from filesystem to ASM
---------------------------------
$cd /oracle/backup/testdb/expdp/
$ls -lrt dumpfile*.dmp
dumpfile1.dmp
dumpfile2.dmp
dumpfile3.dmp

$ps -ef| grep pmon
$. oraenv
ORACLE_SID = [dbinst1] ? +ASM1
The Oracle base for ORACLE_HOME=/opt/app/11.2.0/grid is /opt/app/oracle
$asmcmd

ASMCMD> lsdg
ASMCMD> cd FRA/TESTDB/IMPDP
ASMCMD> ls
ASMCMD> cp /oracle/backup/testdb/expdp/dumpfile1.dmp '+FRA/TESTDB/EXPDP/'
copying /oracle/backup/testdb/expdp/dumpfile1.dmp -> +FRA/TESTDB/EXPDP/dumpfile1.dmp
ASMCMD> cp /oracle/backup/testdb/expdp/dumpfile2.dmp '+FRA/TESTDB/EXPDP/'
copying /oracle/backup/testdb/expdp/dumpfile2.dmp -> +FRA/TESTDB/EXPDP/dumpfile2.dmp
ASMCMD> cp /oracle/backup/testdb/expdp/dumpfile3.dmp '+FRA/TESTDB/EXPDP/'
copying /oracle/backup/testdb/expdp/dumpfile3.dmp -> +FRA/TESTDB/EXPDP/dumpfile3.dmp
ASMCMD> ls
dumpfile1.dmp
dumpfile2.dmp
dumpfile3.dmp