Nowadays, a remarkable development in the automation field is happenning worldwide, in order to allow to have the most heavy works done by machines. In this topic, it is starting to be seen the implementation of dual arm robots, able to perform the translation of heavier and bigger pieces in a most ergonomic way and with better precision, even giving in many situations the capability to easily pick the most heavy components. While there is a wide variety of planning tools with a simple and effective interface for pick and place actions with one arm, the dual arm manipulation is still being seen, currently, as a very specific and not normalized topic of development, where great part of the existing tools requires a huge development in order to be apply them effectively, needing a waste of useless resources (time and capital) to adapt these tools to a new specific robot or a new environment. The goal of this project is to create an effective framework in ROS, with a clear and simple structure (not only for the user, but also for a programmer) which allows to apply a manipulation, with one or two arms with a wide range of possible configurations. In order to improve the internal security and usability, this performance will be done enabling sensors able to understand the environment while a dynamic avoidance of collisions will be performed. Great part of this code will be done using the capabilities of the moveit library, in order to work with a clear and powerful basis, the one will be improved to achieve the already defined goals.