a robot arm with a gripper has 6 basic operations, open gripper, close gripper, vertical moving with closed gripper, horizontal moving with closed gripper, vertical moving with opened gripper, and horizontal moving with opened gripper. give a step plan to perform 'dunk the basketball into the basket' task only using these 6 operations. Give also the purpose of each step Provide your response in exactly 5 paragraphs (separated nearby paragraphs with 3 aterisk symbols ***).
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