Hi!
Recently I was looking for that kind of tool as well. Joan_Sparky also pointed me at this post and in the end started writing a small python script for plotting assembly drawings. It uses the KiCad API to read the pcb file and draws pick and place maps with matplotlib.
The python code for the Pick and Place Assistant is uploaded as GitHub Gist if anyone is still interested. Some plotting capabilities and optimizations are missing but it does the job for now. Feel free to pick it up for own use, extend/modify it, etc.
Example output:
