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I'd check these things:

• Does it work without setting sim:=true? You shouldn't need to do that if you run the real robot, since you're not running a simulation.

• Is the controllers.yaml or ros_controllers.yaml intact? Does it look like this file? If not, please add it to your question.

I'd check these things:

• Does it work without setting sim:=true? You shouldn't need to do that if you run the real robot, since you're not running a simulation.

• Is the controllers.yaml or ros_controllers.yaml in your ur3_moveit_config package intact? Does it look like this file? If not, please add it to your question.