I am a member of team 7790, Baywatch Robotics.
Here is a 3D printable block to hold swerve modules in place when doing a swerve characterization. You should be able to easily print this and then run your program after disconnecting your turning motor.
Print settings
20% Infill
No Supports
Rotate prior to print to put long flat face on bed
Other than that you should be good to go. 
Mk4i Stopper.zip (7.9 KB)
Thank you for this great resource! Our team is new to using a holder to restrain the module while characterizing (we just let it run on the ground), could you please explain how it works? Some graphics / images would be nice!
With the new SYSid rewrite, you may not need to hold the modules steady. Your software should be able to hold your modules steady.
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