Subtask 
-------- 
Dilation SE2
Dilation SE3
 Erosion SE2
 Erosion SE3
Dilation SE6
Dilation SE8
 Erosion SE6
 Erosion SE8

Subtask 
-------- 
Dilation SE8
Dilation SE5
 Erosion SE8
 Erosion SE5
Dilation SE6
Dilation SE8
 Erosion SE6
 Erosion SE8

Subtask 
-------- 
Dilation SE3
Dilation SE4
 Erosion SE3
 Erosion SE4
Dilation SE6
Dilation SE8
 Erosion SE6
 Erosion SE8