That is the closest I have seen on the forum to Loki (Dave Shinsel) and Arvo (John Blankenship) and the kind robot I imagined building!
Ideally you want the robot to recognize the drink container and cup on a table and pick them up itself not having it handed to it. Also be able to monitor the pouring process not having it a rigid sequence of actions.
Very Nice ! How did you get the plastic shell made ?
Very interesting website. You help people with serious problems - that's very important work -especially now that the US govt is cutting funding in many areas.
What language do you use to program the thinking of the robot ? Is the decision making hard coded? Or do you use a database, or text based scripts?