Several solutions for Postscript graphics to Tajima conversion exists, typically in form of some embroidery digitizing solution. These are actually quite often just add-ons or plugins to vector graphics editors. For example several add-ons for Adobe Illustrator (Embroidery i2 etc.) exist, which are specially aimed for digitizing of Tajima files from several source formats, including esp to dst conversion.
Open EPS file Open DST fileA special Illustrator plugin with Tajima embroidery support
An embroidery app for Illustrator