pvandervelde/basic-swerve-sim ? reverse-engineered prompt

Build me a Python project that simulates a swerve drive robot, where I can give it movement commands and see how the robot body and each wheel module respond over time.

I want it to handle both body movement and drive module movement, so it can show the inverse and forward kinematics of the system, and also respect basic motor limits like velocity and acceleration shaping. Please include a few simple ways to run it from the command line, one for trajectory simulations from input files, one for generating motion profile outputs, and one for running verification checks.

It would be great if the simulation writes results to output files, and if there are a few controller modes and motion profile options I can choose from. Make it easy to test different motions, compare results, and inspect the output in a readable way. If you need to look up any current library docs online, go ahead and do that.