There didn’t seem to be a good way to get vector graphics into Pcbnew, so I wrote a small utility that uses an existing SVG library to read files, and then writes them out as KiCad modules.
The project is hosted on GitHub:
It uses cjlano’s python SVG parser and drawing module to interpret drawings and approximate curves using straight line segments. Module files can be output in KiCad’s legacy or s-expression (i.e., pretty) formats. Horizontally mirrored modules are automatically generated for use on the back of a 2-layer PCB.