["python","python-3.x","matplotlib"]
How to draw a line with matplotlib?

I cannot find a way to draw an arbitrary line with matplotlib Python library. It allows to draw horizontal and vertical lines (with matplotlib.pyplot.axhline and matplotlib.pyplot.axvline, for example), but i do not see how to draw a line through two given points (x1, y1) and (x2, y2). Is there a way? Is there a simple way?
As of matplotlib 3.3, you can do this with plt.axline((x1, y1), (x2, y2)).