We integrate software components that allow ef- ficient and successful grasping of kitchenware objects. The contributed components include: The object pose detector, the gripper reaching motion and the grasp hypothesis selection. The object pose detector of Drost et. al.  is improved, considering rotationally symmetric objects. The reaching motion execution combines two independent dynamical systems: The approach direction system and its tangent space . The coupling provides a robust reaching component that copes with several gripper configurations. The grasp hypothesis selection filters the object poses by considering the table orientation.