By accident, I've discovered RFIDiot, a RFID exploration library and tool written in python. There is quite a bit of overlap with what librfid tries to achieve, from a functional point of view (written in C, of course).
So on the one hand, there's a lot of functional overlap on the high-level like mifare reading/writing, ePassport reading, ... - but on the other hand, all the lower levels seem to be missing in RFIDiot. I guess that's the price you have to pay for vendor-lock-in with a proprietary serial protocol like the ACG readers.
Once I find some time again (next year, feb/march), I'd definitely like to see whether there can be some kind of integration/cooperation between RFIDiot and librfid/libmrtd.