drutil burn filehere
Don't type the "filehere" -- that's where you put the path to the file/folder that you wish to burn. You can either type the location manually or drag and drop the file onto the Terminal window. But that's not all you can do with drutil; you can also eject media from the optical drive by typing "drutil eject." To see all of the available drutil options, just type in drutil for a quick list or man drutil for a full description.