iso image – Extract udf (latest version) blu-ray iso?

How can I extract udf blu-ray iso with fast speed? It seems like rar and 7z can’t read the file format. I know that you can mount it and then copy the files, but it’s terribly slow for me (10MB/s on a drive with 125MB/s speed), which is also the reason why I can’t use it directly (have to wait to buffer every 2-5 seconds).