Currently, we are using python and a somewhat recently developed game engine called, "Ursina." This engine branches off from other python game engines like panda3D, which we tried using in the past (This was an engine disney used to design Pirates Of The Caribbean and ToonTown games). This also comes with more availability of model types, considering that now you can import .blend 3D models.
Overall, I think this engine will do a good job for what we are trying to accomplish.
Ursina Home Page