Subtask 
-------- 
Dilation SE3
Dilation SE7
 Erosion SE3
 Erosion SE7
Iterate 3 Dilation SE4
Iterate 3  Erosion SE4

Subtask 
-------- 
Dilation SE3
Dilation SE3
 Erosion SE3
 Erosion SE3
Iterate 3 Dilation SE4
Iterate 3  Erosion SE4

Subtask 
-------- 
Dilation SE3
Dilation SE5
 Erosion SE3
 Erosion SE5
Iterate 3 Dilation SE4
Iterate 3  Erosion SE4