Robots are getting better at doing household chores. We have already covered a bunch capable of preparing meals and brewing coffee. This Baxter robot relies on an AR10 hand to pour coffee and milk. The AR10 hand has 10 degrees of freedom. It is ROS and Python compatible.
Baxter is ROS based and has 7 degrees of freedom. As this video demonstrates, it can be taught to pick up and pour coffee, add milk, and even give your drink a stir.