Not all foam is created equal.
Maybe you could post a picture of the foam.
PU is a thermoset, and naturally has good rebound properties.
PU mattress foam can vary.
Also, for boxing gloves, I assume the foam needs to be soft (to cushion), but does not bottom out (feel the knuckle). PU manufactures report a value to indicate this property. I believe it is the ratio of 65% compression to 25% compression.