How can I move my arm between two points using moveit commandator

edit

Hi

I am created a moveit plugin for my 6DOF arm.And I am trying to move my arm through a line. And I have two end co-ordinates of a line say (x1,y1,z1) and (x2, y2, z2) .

I can able to move to a random pose using

from moveit_commander import MoveGroupCommander

#if name == '__main__':
group = MoveGroupCommander("arm")

# move to a random target
group.clear_pose_targets()
group.go()

But I am not found a function that helps me to plan between two points.

Thanks