If not, what alternatives would you suggest?
Surely it can pick up taste tubes. But I am not sure about pouring. Mostly I have seen these arms for simple pick and place related tasks. But pouring in the right place sounds more advanced. Let’s see if anyone has done such tasks with MasterPi. If not, you may have to design an industrial type of robotic arms like SCARA 6 Types of Industrial Robots - The Engineering Projects