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I think this is quite popular: https://github.com/jonathanslenders/python-prompt-toolkit

For Rust this library seems nice: https://github.com/kbknapp/clap-rs (it generates autocompletion scripts for shells)

To build on Rust's options, there's the Structopt library[0] that generates a CLI interface using clap-rs from an annotated struct, which is a very, very nice experience for making command line tools.

[0]https://github.com/TeXitoi/structopt

It's a pretty neat tool. I've played around with it a lot, and it's used in the aws-shell[0] to a very similar effect as the OP. (Disclaimer: I work for aws and have contributed to the aws-shell.)

[0]: https://github.com/awslabs/aws-shell

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