diff --git a/.github/actions/find_release_branch/action.yaml b/.github/actions/find_release_branch/action.yaml
new file mode 100644
index 00000000..d5dd87c6
--- /dev/null
+++ b/.github/actions/find_release_branch/action.yaml
@@ -0,0 +1,42 @@
+name: 'Find Release Branch'
+description: 'Find the highest v<major>.<minor> branch in the repository.'
+outputs:
+  branch:
+    description: 'The release branch name (e.g. v9.5).'
+    value: ${{ steps.find_branch.outputs.branch }}
+
+runs:
+  using: 'composite'
+  steps:
+    - name: Find highest release branch
+      id: find_branch
+      uses: actions/github-script@3a2844b7e9c422d3c10d287c895573f7108da1b3 # v9.0.0
+      with:
+        script: |
+          const owner = context.repo.owner;
+          const repo = context.repo.repo;
+
+          const branchPattern = /^v(\d+)\.(\d+)$/;
+          const branches = await github.paginate(github.rest.repos.listBranches, {
+            owner,
+            repo,
+            per_page: 100,
+          });
+
+          const versionBranches = branches
+            .map(b => b.name)
+            .filter(name => branchPattern.test(name))
+            .sort((a, b) => {
+              const [, aMajor, aMinor] = a.match(branchPattern).map(Number);
+              const [, bMajor, bMinor] = b.match(branchPattern).map(Number);
+              return bMajor - aMajor || bMinor - aMinor;
+            });
+
+          if (versionBranches.length === 0) {
+            core.setFailed('No branch matching v<major>.<minor> found.');
+            return;
+          }
+
+          const branch = versionBranches[0];
+          core.info(`Found release branch: ${branch}`);
+          core.setOutput('branch', branch);
diff --git a/.github/workflows/batch-merge-release-branch.yaml b/.github/workflows/batch-merge-release-branch.yaml
index 190cc019..4683b3de 100644
--- a/.github/workflows/batch-merge-release-branch.yaml
+++ b/.github/workflows/batch-merge-release-branch.yaml
@@ -14,10 +14,6 @@ jobs:
   batch-merge-release-branch:
     runs-on: ubuntu-latest
     steps:
-      - name: Get current release branch
-        id: get_current_release_branch
-        uses: PickNikRobotics/moveit_pro/.github/actions/find_release_branch@v9.2
-
       - name: Checkout code
         uses: actions/checkout@v6
         with:
@@ -25,6 +21,10 @@ jobs:
           fetch-depth: 0
           lfs: false
 
+      - name: Get current release branch
+        id: get_current_release_branch
+        uses: ./.github/actions/find_release_branch
+
       - name: Merge release branch into main
         id: merge
         env:
diff --git a/src/lab_sim/objectives/stack_blocks_with_icp.xml b/src/lab_sim/objectives/stack_blocks_with_icp.xml
deleted file mode 100644
index 0804e4c4..00000000
--- a/src/lab_sim/objectives/stack_blocks_with_icp.xml
+++ /dev/null
@@ -1,39 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<root BTCPP_format="4" main_tree_to_execute="Stack Objects with ICP">
-  <!--//////////-->
-  <BehaviorTree
-    ID="Stack Objects with ICP"
-    _description="Solution to the advanced exercise in the ICP section of the Perception &amp; ML tutorial"
-    _favorite="false"
-  >
-    <Control ID="Sequence" name="TopLevelSequence">
-      <SubTree ID="Open Gripper" _collapsed="true" />
-      <SubTree ID="Look at Table" _collapsed="true" />
-      <SubTree ID="Clear Snapshot" _collapsed="true" />
-      <SubTree ID="Take Wrist Camera Snapshot" _collapsed="true" />
-      <SubTree
-        ID="Register CAD Part Subtree"
-        _collapsed="true"
-        grasp_pose="{grasp_pose}"
-      />
-      <SubTree
-        ID="Pick from Pose"
-        _collapsed="true"
-        approach_distance="0.1"
-        grasp_pose="{grasp_pose}"
-        retract_xyz="0;0;-0.1"
-      />
-      <SubTree ID="Look at Table" _collapsed="true" />
-      <SubTree ID="Place Object" _collapsed="true" />
-      <SubTree ID="Open Gripper" _collapsed="true" />
-    </Control>
-  </BehaviorTree>
-  <TreeNodesModel>
-    <SubTree ID="Stack Objects with ICP">
-      <MetadataFields>
-        <Metadata runnable="true" />
-        <Metadata subcategory="Training Examples" />
-      </MetadataFields>
-    </SubTree>
-  </TreeNodesModel>
-</root>
diff --git a/src/lab_sim/objectives/stitch_multiple_point_clouds_together.xml b/src/lab_sim/objectives/stitch_multiple_point_clouds_together.xml
index f0274748..ae393ced 100644
--- a/src/lab_sim/objectives/stitch_multiple_point_clouds_together.xml
+++ b/src/lab_sim/objectives/stitch_multiple_point_clouds_together.xml
@@ -18,7 +18,7 @@
       <Action
         ID="CreateStampedPose"
         orientation_xyzw="0;-1;0;0"
-        position_xyz="0.5;0.1;0.5"
+        position_xyz="0.0;0.5;0.8"
         stamped_pose="{pose1}"
         reference_frame="world"
       />
@@ -30,7 +30,7 @@
       <Action
         ID="CreateStampedPose"
         orientation_xyzw="0;-1;0;0"
-        position_xyz="0.6;0.2;0.5"
+        position_xyz="0.3;0.4;0.8"
         stamped_pose="{pose2}"
         reference_frame="world"
       />
@@ -42,7 +42,7 @@
       <Action
         ID="CreateStampedPose"
         orientation_xyzw="0;-1;0;0"
-        position_xyz="0.4;0.3;0.5"
+        position_xyz="0.6;0.5;0.8"
         stamped_pose="{pose3}"
         reference_frame="world"
       />