This document specifies syntax and semantics of the data formats for interaction devices by providing a standardized format for interfacing actuators and sensors by defining XML schema-based language named Interaction Information Description Language (IIDL). IIDL provides a basic structure with common information for communication with various actuators and sensors in consistency. Device Command Vocabulary (DCV) is defined to provide a standardized format for commanding individual actuator, and Sensed Information Vocabulary (SIV) is defined to provide a standardized format for holding information from individual sensors either to get environmental information from real world or to influence virtual world objects using the acquired information on the basis of IIDL.