H3DAPI 2.0 beta
H3DAPI is a library to create or add the simulation of touch to applications. Built on the industry standards OpenGL and X3D, H3DAPI enables rapid haptics application development using X3D and Python alone. More major projects have been developed by extending H3DAPI capabilities with C++.
Read more HERE.
Open Source Haptics: www.h3dapi.org