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MoveIt supports dual arm manipulation out of the box, so typically the 2 UR3s are combined into a single URDF (using xacro) and consider one unified robot.

Is there are reason you are running two instances of MoveIt for this? If you must have two instances, you could write a script that published the current state of the robot (via /tf or /planning_scene) from one instance of MoveIt to the other, by converting that state in collision objects. But that would likely be pretty slow.

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