Let me just start this entry by being clear where I stand on this:
I WANT, I WANT, I WANT :o)
When the need strikes, a thirsty human simply has to open a web interface, choose his or her preferred brew, and click the "Beer Me" button. The PR2 opens the refrigerator and scans its contents using image recognition software; retrieves a bottle of the correct kind; and brings it to the human. It can optionally open the bottle as well.