This is v. easy, have been doing work on this for the past few weeks.
You need the Batik SVG Toolkit. Download, and place the files in the same directory as the SVG you want to convert to a JPEG, also make sure you unzip it first.
Open the terminal, and run this command:
java -jar batik-rasterizer.jar -m image/jpeg -q 0.8 NAME_OF_SVG_FILE.svg
That should output a JPEG of the SVG file. Really easy. You can even just place it in a loop and convert loads of SVGs,
import os
svgs = ('test1.svg', 'test2.svg', 'etc.svg')
for svg in svgs:
os.system('java -jar batik-rasterizer.jar -m image/jpeg -q 0.8 '+str(svg)+'.svg')