diff --git a/mcp/gripper_mcp/ros_messages.py b/mcp/gripper_mcp/ros_messages.py
index abfd590..74fc543 100644
--- a/mcp/gripper_mcp/ros_messages.py
+++ b/mcp/gripper_mcp/ros_messages.py
@@ -105,6 +105,8 @@ def advertised_type(names_and_types, action_name: str, known: dict) -> str | Non
 
 def position_of(state, joint: str, fallback: float) -> float:
     names = list(state.name)
+    if not names and len(state.position) == 1:
+        return state.position[0]
     if joint not in names:
         return fallback
     return state.position[names.index(joint)]
diff --git a/mcp/gripper_mcp/service.py b/mcp/gripper_mcp/service.py
index d3b2871..2670377 100644
--- a/mcp/gripper_mcp/service.py
+++ b/mcp/gripper_mcp/service.py
@@ -219,6 +219,8 @@ def classify(
         return "refused"
     if motion.timed_out:
         return "incomplete"
+    if motion.reached_goal:
+        return "reached"
     if stopped_on_something(commanded_mm, achieved_mm, stroke):
         return "stopped_on_object"
     return "reached"
diff --git a/mcp/tests/test_ros_messages.py b/mcp/tests/test_ros_messages.py
index 8a68517..d0c31ee 100644
--- a/mcp/tests/test_ros_messages.py
+++ b/mcp/tests/test_ros_messages.py
@@ -116,6 +116,18 @@ def test_a_state_without_the_joint_yields_the_fallback():
     assert position_of(state, "knuckle_joint", FALLBACK_RAD) == FALLBACK_RAD
 
 
+def test_a_result_naming_no_joint_but_carrying_one_position_is_that_joint():
+    state = FakeState([], [KNUCKLE_RAD])
+
+    assert position_of(state, "knuckle_joint", FALLBACK_RAD) == KNUCKLE_RAD
+
+
+def test_a_result_naming_no_joint_with_no_position_yields_the_fallback():
+    state = FakeState([], [])
+
+    assert position_of(state, "knuckle_joint", FALLBACK_RAD) == FALLBACK_RAD
+
+
 class FakeCancelResponse:
     def __init__(self, return_code):
         self.return_code = return_code
diff --git a/mcp/tests/test_service.py b/mcp/tests/test_service.py
index d930417..2770224 100644
--- a/mcp/tests/test_service.py
+++ b/mcp/tests/test_service.py
@@ -223,6 +223,7 @@ def test_each_gripper_opens_to_its_own_model_width():
         (motion(reached_goal=False, stalled=True), 85.0, 49.0, "stopped_on_object"),
         (motion(reached_goal=True), 30.0, 30.0, "reached"),
         (motion(reached_goal=False, stalled=True), 30.0, 30.0, "reached"),
+        (motion(reached_goal=True), 85.0, 83.1, "reached"),
     ],
     ids=[
         "refused",
@@ -233,6 +234,7 @@ def test_each_gripper_opens_to_its_own_model_width():
         "open blocked part-way",
         "move landed",
         "move landed but the driver says stalled (#29)",
+        "the controller reached within its own tolerance, wider than ours",
     ],
 )
 def test_classify_decides_from_position_not_the_stall_flag(