This paper presents a framework schema that allows to bring simulation results obtained from different dual-arm robotic applications to executions in real environments. The framework uses the Robot Operating System (ROS) to communicate each component of the dual-arm, and the robotic software tool The Kautham Project for the computation of motion paths, inverse kinematics validations, collision checking and the graphical visualization of the simulated environment. The Anthropomorphic Dual Arm Robotic System (ADARS) was used in this work which is composed of two robotic arms of 6 degree of freedom, two anthropomorphic hands, and tactile sensors in the fingertips. The real execution of two different applications are presented to show the robustness of the framework. The resulting framework is general enough, allowing the reimplementation with minimum changes in any other dual-arm system.