diff --git a/ext/OptimalControlModels/robot.jl b/ext/OptimalControlModels/robot.jl
index 1bfe831a..72859325 100644
--- a/ext/OptimalControlModels/robot.jl
+++ b/ext/OptimalControlModels/robot.jl
@@ -117,7 +117,7 @@ function OptimalControlProblems.robot(
     end
 
     # initial guess
-    tf = 1
+    tf = 9.1
     xinit =
         t -> [
             ρ_t0,
diff --git a/ext/OptimalControlModels/space_shuttle.jl b/ext/OptimalControlModels/space_shuttle.jl
index 2d6e6d25..c080a1bf 100644
--- a/ext/OptimalControlModels/space_shuttle.jl
+++ b/ext/OptimalControlModels/space_shuttle.jl
@@ -175,7 +175,7 @@ function OptimalControlProblems.space_shuttle(
     # initial guess: linear interpolation for h, v, gamma (NB. t0 = 0), constant for the rest
     # variable time step seems to be initialized at 1 in jump
     # note that ipopt will project the initial guess inside the bounds anyway.
-    tf_init = (tf_l+tf_u)/2
+    tf_init = 2000.0
     x_init =
         t -> [
             h_t0 + (t - t0) / (tf_init - t0) * (h_tf - h_t0),
diff --git a/ext/OptimalControlModels/steering.jl b/ext/OptimalControlModels/steering.jl
index 36aeabff..a1539e56 100644
--- a/ext/OptimalControlModels/steering.jl
+++ b/ext/OptimalControlModels/steering.jl
@@ -85,7 +85,7 @@ function OptimalControlProblems.steering(
         end
     end
     xinit = t -> [gen_x0(t, i) for i in 1:4]
-    init = (state=xinit, control=0, variable=1)
+    init = (state=xinit, control=0, variable=0.6)
 
     # discretise the optimal control problem
     docp = direct_transcription(