We have extended the VRML standard to allow free-form manipulation of objects while immersed. Our driving goal was immersed training for equipment operations and maintenance, and to this end we developed a sensor that allows 6DOF manipulation, a cooperating sensor that allows snapping objects into place as part of an assembly, and a two-handed manipulation approach for these sensors. CR Categories and Subject Descriptors: I.3.6 [Computer Graphics]: Methodology and Techniques, Interaction techniques, standards. I.3.7 [Computer Graphics]: Three-Dimensional Graphics and Realism, virtual reality; H.5.2 [Information Interfaces and Presentation]: User Interfaces - Interaction Styles; I.3.4 [Computer Graphics]: Graphics Utilities, Virtual device interfaces.