Yes.
---- "In the season 5 episode "Go!" Robin and Starfire's first kiss is shown; however, this was only for the purpose of assimilating the English language. In Teen Titans: Trouble in Tokyo, moments are shared between the two. In one moment, Starfire admits she truly wishes their relationship to be more; however, much to Starfire's dismay, Robin claims that they can't be anything more than heroes. Soon after, Robin states that he's learned they can be more without it hurting the both of them. Finally, Robin and Starfire share the "actual" kiss after the Ink Monster is defeated, making Cyborg remark, "Well, it's about time.""
-Taken from Wikipedia
(http://en.wikipedia.org/wiki/Starfire_(comics)#Teen_Titans_animated_series)
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There may be several episodes in which Starfire drinks mustard, but the first one that I know of was 'The Sum of his Parts', which was Season 1's episode 5, the second and last being 'Mother Mae Eye', which was Season 4's episode 10.
season 2 episode 5 'Self Help'
Robin Wilby is 5' 5".
Robin Zamora is 5' 8".
Robin Gierhart is 5' 9".