Purpose of cylinder geoms in G1 XML description

[jaraujo98]

When I try to use the G1 model with MJX I get an error because of the 4 cylinder geoms like the one referenced here

unitree_ros/robots/g1_description/g1_29dof_rev_1_0.xml

Line 150 in c20ca8f

<geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>

This happens since cylinder-mesh collisions are still not implemented in MJX. What is the purpose of these cylinders? Are they collision geometries? Can I delete them for MJX?