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My teammate solved the problem today, it appears that the household_database uses models specified in meters, while the model I had was specified in centimeters. Specifying the size in meters solves the problem.

As for ways to create 3D models, it doesn't matter what application you use, as long as it is able to export the model to PLY format. I used models created in 3DSom, Solidworks and 3dSMax and converted them to PLY format with Blender, which worked perfectly for me.