Transfering files from one to another machine in different directories

I have to write script in which I have to copy files from different directories on machine A and put them in corresponding directories in machine B.

Here machine A remains same per project and machine B keeps on changing.

Is there any way through which I can do this using single remote login (through sftp/ftp) on machine A from machine B or vice versa

Can I change local directory from sftp?

Thanks

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