Draw trajectories in Simulation

Is there any (current) way to plot a robot Trajectory in the simulation? I see that you can call Trajectory.sample() to map it out (maybe there is a better way), and Field2d seems to allow you to create additional FieldObject2d, but I don’t see a method beyond that.

Maybe there is a Shuffleboard or Glass add on which can take a trajectory?

Field2d doesn’t support that. It would be nice to add eventually.