How to plan multiple, sequential motions with MoveIt in RViz

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Hi guys,

I am the new for the moveit.

Following the tutorials, I can use the motion plan with my robot in the moveit rviz, means I can let my robot's arm move from the start state to the goal state.

And now I tried to plan a series of action for my robot, like, let the robot's arm moved from state A to state B, then from state B to state C, then from state C to state D …...

But all I can find so far in the moveit rviz, just one movement.

So my question is, can I plan a series of action in the moveit rviz? If I can, how should I do?

Thank you very much.