Register two point clouds using ICP algorithm works randomly

Hello. I have two point clouds and I want to find the transformation function to register them. I used both pcregrigid and pcreistericp command. The first attempt was unsuccessful (Reg0.png: fixed points are blue, moving object is red and moved object is black), but I just moved the fixed object a little bit and it gave me a perfect registration (Reg1.png). How to make sure to have rebost results with the registration commands in Matlab?

here is my simple script:

load('pc.mat');

fixed = pointCloud(pc1);

moving = pointCloud(pc2);

%tform = pcregrigid(moving,fixed,'Extrapolate',true); %matlab does not suggest this command anymore

tform = pcregistericp(moving,fixed,'Extrapolate',true);

moved = pctransform(moving,tform);

p.s. I tried downsampling too, it did not help.