In a small cool package with 8GB GDDR5 at a low price point.. yes they did well. WIthout the PS4 and XBOX One we would be stuck with PC games based on PS3/360, machines with 512MB ram and DVD as storage. It's the Consoles that pays for the party on the PC, it's NOT the other way around. PC gaming without Consoles economic force would be an interesting history.
Imho there is a few things that could force Sony/MS to launch new consoles with more power.
VR of course, but that would take someone else creating a VR system with a cheap console like box, maybe the PC could be a real competitor, i would like that, i just doubt it's going to happen.
Both Microsoft and Sony doesn't really have to care about the possibility of better VR than what they offer, as long as they are the ones that can do it the easiest and "best gaming" way".
4K gaining ground quicker than expected along with even bigger screens could cool the interest in "low res" consoles. Personally i am more interested in 8K, i have seen it a few times and it's incredible, with the right sized TV it's really special.
New competition.. we could need some, Apple, Google, Amazon, Activision, Take 2...