Cool, so it is possible.
I guess I can use the config https://github.com/NiryoRobotics/niryo_one_ros/blob/master/niryo_one_moveit_config/config/joint_limits.yaml to increase the velocity and acceleration.
As you mentioned, increasing acceleration increases the “drift” risk but would really appreciate if you can let me know the maximum safe limit based on your experience with niryo. Experimentation to find it by trial and error would be trickier and I only got one niryo! :P