At this point, {HEAD ~ the estimated location} and orientation of {TAIL ~ each} of the magnets matches the actual location within a predetermined degree of tolerance 
of
At this point , { HEAD ~ the estimated location } and orientation of { TAIL ~ each } of the magnets matches the actual location within a predetermined degree of tolerance
OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH REL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH