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Tri-dimensional (3D) environments are currently built and manipulated in two-dimensional (2D) spaces trough the use of the WIMP (Windows, Icons, Menus and Pointers) paradigm that visualizes the objects from multiple views in several windows. This document presents the advantages of use of a six degree-of-freedom input device for the creation and manipulation of 3D objects in 3D spaces. A new ergonomic interaction technique for 3D spaces involving the use of both hands has been designed based on the theory of bimanual gestures. A newly created gesture-based language is interpreted into input commands. The user is totally immersed in the environment s/he is building and the hands' position is tracked by magnetic sensors indicating the center position of the back of the hands. The advantages of use a six degree-of-freedom input device based on the theory of bimanual gestures are presented together with the gesture-based language designed. The implementation and design of has been evaluated for the construction of an urban virtual space and the results are given in this paper.