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We introduce TwinSpace, a flexible software infrastructure for combining interactive workspaces and collaborative virtual worlds. Its design is grounded in the need to support deep connectivity and flexible mappings between virtual and real spaces to effectively support collaboration. This is achieved through a robust connectivity layer linking heterogeneous collections of physical and virtual devices and services, and a centralized service to manage and control mappings between physical and virtual. In this paper we motivate and present the architecture of TwinSpace, discuss our experiences and lessons learned in building a generic framework for collaborative cross-reality, and illustrate the architecture using two implemented examples that highlight its flexibility and range, and its support for rapid prototyping.