Questions related to running the factr_teleop_franka_zmq.py example

[franka2024]

I'm in the process of building and testing the teleop system but I had a few questions because the instructions to run the factr is a bit unclear to me at this point.

1. I see that you guys have used the franka robot however, there is no mention of either franka_ros2 or libfranka in the codebase. How do you guys run the franka related topics?

2. What are the IP addresses that you are using for the factr_teleop_franka_zmq.py example? Are those the franka IP addresses? and what does the sim_desktop_ip_address represent?

3. Should I publish the franka/joint_states ros topic through a ZMQPublisher at the respective ip address for the ZMQSubscriber(zmq_address["joint_state_sub"]) to receive the data? If yes, then what is the structure of the data that I'm supposed to send for the ZMQSubscriber(zmq_address["joint_state_sub"]) to process ?

4. Also I see that you have used a custom made gripper. Will the factr system work for the default franka gripper?

Any guidance will be greatly appreciated.