The diversity of robotic architectures is a major factor in developing platform-independent algorithms. There is a need for a widely usable model of robot capabilities which can help to describe and reason about the diversity of robotic systems. We propose such a model and present an integrated framework for task planning and task execution using this model. Existing planning techniques need to be extended to support this model, as it requires 1) generating new objects during planning time; and, 2) establishing concurrency based on data flow within the robotic system. We present results on planning and execution of an object transportation task in simulation.