There was a company in Sweden that built a system that used VRML and extended like that where you could define what the nodes were and reference and re-use them. The system also enable Python to script behaviour.

It also used the PHANToM for haptic feedback and used a 3D stereoscopic display

https://www.researchgate.net/figure/A-Reachin-Display-equipp...

The company H3D has built something similar.

https://h3d.org/