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This video shows a robot that is able to play pool autonomously. Due to a camera fixed on the ceiling, a robot can calculate the success probability of each shot and can decide independently which ball would be the easiest one to whole in. The information can also be projected onto the table. In this way, the human player could have support from a computer. It is necessary to optimize the manipulator pose online in order to find the optimal shot speed. The sequence at the end of the video illust