Collider and Renderer desync

I'm having an issue where my object is set to move using rigidbody.velocity. When it enters a collision, it is set to stop.

Often when it stops, the collider stops correctly, but the renderer lags behind. This leaves a gap between the object and the wall it is supposed to collide with, which is obviously a huge issue.

In the image below, you can see that the collider has found the correct position to stop at, but the mesh renderer simply won't update to the correct position.

Any ideas for a fix?