Like everyone has stated, 1625 has done it. (I believe that they are the only ones so far.)
Here are some pics that I got from CD-Media. I'm sure that 1625 has many more on their website.
http://www.chiefdelphi.com/media/photos/35824
http://www.chiefdelphi.com/media/photos/35087
http://www.chiefdelphi.com/media/photos/35854
Also, here is a great whitepaper that 1625 published about their swerve drives throughout the teams history.
http://www.chiefdelphi.com/media/papers/2578