Catalog of Andreev spectra and Josephson effects in structures with time-reversal-invariant topological superconductor wires

We study all the possible different two-terminal configurations of Josephson junctions containing wires of time-reversal-invariant topological superconductors and ordinary superconductors, including combinations with an interacting quantum dot between both wires in the junction. We introduce simple effective Hamiltonians which explain the different qualitative behaviors obtained. We analyze a wide range of phenomena, including occurrence and quenching of the so-called 0-pi transition, anomalous periodicity, and jumps of the Josephson current as a function of the phase difference, and finite Josephson current in the absence of magnetic flux.