No. Just because it’s taxable doesn’t mean that it’s compensation for work, which is what is required to make IRA contributions. From IRS Pub 590-A p590a.pdf (irs.gov)
Payments from a Charitable Remainder Trust will be reported to you on a Beneficiary Schedule K-1 (Form 1041) f1041sk1.pdf (irs.gov) which is different than a Partnership K-1 (Form 1065) f1065sk1.pdf (irs.gov) where compensation income may be reported, since it allows for reporting of self-employment income and partnership income where you are providing services that are a material income producing factor.
None of the income types on the Beneficiary’s K-1 are considered to be compensation, as defined in the list of compensation qualified for IRAs, since you aren’t being compensated for working.
AJ