I do remember VRML. I read a book about it and spent some time playing around with it in the mid-90s. I didn't follow it closely enough to know when it died off (I'm assuming it died off since I haven't heard it mentioned much in decades).
VRML is still around — it became X3D. It's a different file format but the semantics are much the same.
All the plugins that used to be needed to display VRML online are gone now, but you can still display VRML 2.0/97 files online using JavaScript library called X_ITE [1]. I used it recently to view some old VRML I had saved but could no longer view. Works great.
Sounds like you are looking for react-three-fiber, which looks just like this!
The examples, demos, and development experience are great, but since it's based on web tech hasn't made a big splash yet with the bigger 3D content businesses.
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