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Poses update slowly in the Gazebo UI when using the SetModelState service

I have a simulation with boxes that are being moved with a python script. The positions are updated using the /gazebo/set_model_state service.

It works well, however, the boxes stutter in Gazebo. Here is a video that demonstrates the problem.

This seems to be limited to the Gazebo client window, as the boxes move smoothly in virtual cameras and laser scans. Collisions are also calculated correctly based on the current poses (not the outdated ones shown in Gazebo). This doesn't seem to be a performance problem, since the car, which is physically simulated, moves smoothly as well.

Is there a way to make the boxes move smoothly in the Gazebo window?

Thank you!