The Arduino code is available in the Github repository of the project , as well as a notebook with useful functions to control it. The computer controls the device via serial communication. The intended use is together with a balance, so it can receive feedback of when a cup is full and move to fill another. The Arduino code receives control commands to open/close the valve and to move the arm to the desired pose. The paths between poses are determined by the Python code, using the ikpy 32 library to compute the rotation of the joints needed for the exit nozzle to reach the desired position via Inverse Kinematics calculations.