How does the FOC work in ODrive controller?

Solomon, I appreciate all your replies and supports to my previous questions. I notice ODrive controller can configure the motor in FOC mode. Just curious to know,

  1. Does the controller implement sensored FOC or sensorless FOC?
  2. We have one product which is using MA732 as encoder, the encoder does not measure the absolute position of rotor, instead, it measures the angle of shaft connecting with a gear after the motor. Can we configure MA732 as encoder for ODrive to test?