Voluntary livestock milking system (400, 500, 600, 700, 2300, 2400, 2500, 2600, 2700, 2800, 2900, 3000) comprising: a plurality of voluntarily accessible milking stalls (501-504, 601-608, 2301-2304, 2401-2404, 2505, 2611, 2621, 2631, 2641, 2711, 2721, 2731, 2741, 2801, 2802, 2901-2905, 3001-3004) for holding dairy livestock, wherein the voluntarily accessible milking stalls are configured such that: dairy livestock freely roam in an area (2480, 2550, 2580, 2585, 2610, 2620, 2630, 2640, 2710, 2720, 2730, 2740, 2860, 2960, 3060) outside the milking stalls; and enter the milking stalls, without human intervention, for milking; vertical upright teat cup holders (430, 630, 1100, 2311-2314, 2811, 2812, 2911-2915, 3011-3014) comprising teat cups (621-624, 631-634, 1101-1104), which are part of the milking stalls and are connected directly to the main milk-line; and at least one mobile unit (140, 415, 441-447, 540-546, 641-644, 741-744, 1441-1444, 1541-1544, 1641-1644, 1300, 2220, 2340, 2345, 2613, 2623, 2840, 2940, 3040) comprising: equipment for treating livestock and a processor (310, 1451-1454, 1651-1654), wherein the mobile unit is configured to: travel between the fore legs and hing legs of the dairy livestock; and use the equipment to perform at least one action related to a treatment of the dairy livestock; wherein the equipment includes an arm (215, 425, 1301) configured to withdraw the teat cups from the vertical teat cup holder and connect them to the dairy livestock. a plurality of voluntarily accessible milking stalls (501-504, 601-608, 2301-2304, 2401-2404, 2505, 2611, 2621, 2631, 2641, 2711, 2721, 2731, 2741, 2801, 2802, 2901-2905, 3001-3004) for holding dairy livestock, wherein the voluntarily accessible milking stalls are configured such that: dairy livestock freely roam in an area (2480, 2550, 2580, 2585, 2610, 2620, 2630, 2640, 2710, 2720, 2730, 2740, 2860, 2960, 3060) outside the milking stalls; and enter the milking stalls, without human intervention, for milking; dairy livestock freely roam in an area (2480, 2550, 2580, 2585, 2610, 2620, 2630, 2640, 2710, 2720, 2730, 2740, 2860, 2960, 3060) outside the milking stalls; and enter the milking stalls, without human intervention, for milking; vertical upright teat cup holders (430, 630, 1100, 2311-2314, 2811, 2812, 2911-2915, 3011-3014) comprising teat cups (621-624, 631-634, 1101-1104), which are part of the milking stalls and are connected directly to the main milk-line; and at least one mobile unit (140, 415, 441-447, 540-546, 641-644, 741-744, 1441-1444, 1541-1544, 1641-1644, 1300, 2220, 2340, 2345, 2613, 2623, 2840, 2940, 3040) comprising: equipment for treating livestock and a processor (310, 1451-1454, 1651-1654), wherein the mobile unit is configured to: travel between the fore legs and hing legs of the dairy livestock; and use the equipment to perform at least one action related to a treatment of the dairy livestock; wherein the equipment includes an arm (215, 425, 1301) configured to withdraw the teat cups from the vertical teat cup holder and connect them to the dairy livestock. equipment for treating livestock and a processor (310, 1451-1454, 1651-1654), wherein the mobile unit is configured to: travel between the fore legs and hing legs of the dairy livestock; and use the equipment to perform at least one action related to a treatment of the dairy livestock; travel between the fore legs and hing legs of the dairy livestock; and use the equipment to perform at least one action related to a treatment of the dairy livestock; wherein the equipment includes an arm (215, 425, 1301) configured to withdraw the teat cups from the vertical teat cup holder and connect them to the dairy livestock.