@KiCADsmktec
kicad 3d-viewer does support a subset of VRML syntax, so not all the VRML structure can be correctly loaded/displayed…
If you can export your model to STEP, then you can convert to VRML through FreeCAD using PartToVRML macro, which is fully compatible with kicad, or you can use the kicad StepUp tools (which can help you also in aligning the 3d model to the footprint)
and here some useful 3D libraries with a MCAD touch