Here is a tiny robot that can do anything your finger can. The Fingerbot Sense is a Zigbee/Bluetooth button pusher with touchless control. It can start your coffee machine, push elevator buttons, and a whole lot more. It comes with a standard straight arm for anything that can be activated with a simple push. With the optional rocker arm, the Fingerbot can pull up and push down switches.
You do have the option to 3D print custom arms for this robot. Fingerbot Sense has Switch, Program, Click, and Multistate modes. Like what you see? You can find out more about it on Kickstarter.