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Why does world frame get TF prefix?

Because there is a world frame in the ur5_robot.urdf.xacro file, which most likely gets loaded in both of your groups.

See here. This is also a known issue with these .xacros: ros-industrial/universal_robot#284.

The world frame is not an automatically added frame, it's something that either you, or one of the .xacros that you're loading needs to add.

In fact, it's not even a special frame: it's just a regular TF frame that happens to have a name you/we recognise as being something 'special'.