Robust grasping of everyday objects remains challenging for parallel-jaw grippers, particularly when handling sloped or asymmetric items that induce torque-driven rolling and shear slip. These challenges become even more severe in domestic environments such as kitchens, where objects are often wet or submerged, drastically reducing friction between the gripper and the object. To address these issues, we present a waterproof passive adaptive gripper that combines local and global adaptability for high-performance grasping in the submerged environments. The proposed gripper features a fully waterproof design that integrates a passive rotational joint for global self-alignment on sloped surfaces and passive variable-stiffness pads for local surface adaptation. Experiments in both dry and underwater conditions on various cylindrical and conical objects demonstrate superior holding capability and grasp robustness compared to rigid-pad and fixed-joint baselines. The proposed design offers a practical and robust solution that successfully enables stable underwater manipulation of diverse everyday objects, effectively addressing a critical gap in current underwater robotic grasping for daily-life applications.

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