In my experience it's better to go from the JavaScript source as the Typescript definitions tends to have some errors.
I was only talking about the comments within the source code.
Anyway, since Javascript and Kotlin are syntactically pretty similar, you get pretty far by just copy pasting the JavaScript source into a Kotlin file.
I see the point but as some importers written in Java are more reliable, maybe they are worth the supplementary effort to port them to Kotlin.
glTF 2.0 support is underway!
It's a very good piece of news.