How to control the Robot(UR10/Franka) to move faster?

I try to practice “Isaac Examples/Manipulation/Simple Stack”

I observe that the robot moves very slowly.
Maybe this design is easy to observe the movement of the robot, but the real world will not be so slow.
Is there any way to make the robot run at “full speed” close to the real thing?

I noticed that demos/utils/franka.py has a definition
def set_speed(self, speed_level):
pass
Haven’t actually done it, can you give some advice on how to do it?