A milking box, comprising: a robotic attacher that extends milking equipment from the rear through the hind legs of a dairy livestock, the robotic attacher comprising: a main arm suspended from a rail positioned to the rear of a stall portion of the milking box; a supplemental arm coupled to the main arm; a first actuator operable to move the main arm in an x- direction, wherein the x-direction runs length-wise from the rear of the stall portion to a front of the stall portion; a second actuator operable to move the main arm in a y- direction, wherein the y-direction runs vertically from a bottom of the stall portion to a top of the stall portion; a third actuator operable to move the main arm laterally in a z- direction, wherein the z-direction runs width-wise from a first side of the stall portion to a second side of the stall portion; and a controller operable to communicate one or more signals to adjust the first, second, and third actuators (300x, 300y, 300z) in order to position the main arm; an x-bar assembly, wherein: the x-bar assembly is positioned in a top portion of the milking box; the x-bar assembly is oriented lengthwise in the x-direction; and the first actuator is coupled to the x-bar assembly; a first sidewall oriented in the x-direction; a second sidewall separate from and substantially parallel to the first sidewall; and a support beam extending between the top of the first sidewall and the top of the second sidewall, wherein the x-bar assembly is coupled to the support beam such that it is positioned between the first sidewall and the second sidewall. a main arm suspended from a rail positioned to the rear of a stall portion of the milking box; a supplemental arm coupled to the main arm; a first actuator operable to move the main arm in an x- direction, wherein the x-direction runs length-wise from the rear of the stall portion to a front of the stall portion; a second actuator operable to move the main arm in a y- direction, wherein the y-direction runs vertically from a bottom of the stall portion to a top of the stall portion; a third actuator operable to move the main arm laterally in a z- direction, wherein the z-direction runs width-wise from a first side of the stall portion to a second side of the stall portion; and a controller operable to communicate one or more signals to adjust the first, second, and third actuators (300x, 300y, 300z) in order to position the main arm; an x-bar assembly, wherein: the x-bar assembly is positioned in a top portion of the milking box; the x-bar assembly is oriented lengthwise in the x-direction; and the first actuator is coupled to the x-bar assembly; the x-bar assembly is positioned in a top portion of the milking box; the x-bar assembly is oriented lengthwise in the x-direction; and the first actuator is coupled to the x-bar assembly; a first sidewall oriented in the x-direction; a second sidewall separate from and substantially parallel to the first sidewall; and a support beam extending between the top of the first sidewall and the top of the second sidewall, wherein the x-bar assembly is coupled to the support beam such that it is positioned between the first sidewall and the second sidewall.