Remove Warnings from the config files

Several config files throw warnings when parsed by robowflex I have seen them in baxter and the Ur5. If possible we should try remove as much as we can. List of warnings
- [x] `Kinematics solver doesn't support #attempts anymore, but only a timeout.`

- [ ] `Child elements of a tag are ignored`

- [ ] `redefining global property: pi`

Start by locating the configuration files used for the Baxter and UR5 resources and parse them with robowflex to reproduce the listed warnings. Check the remaining xacro include and global pi warnings, then confirm the warnings are gone without breaking resource parsing.

Written by the indexing model from the issue text.