A gas tungsten arc welding (GTAW) training system , comprising: a GTAW torch comprising a first set of visual markers; and being characterised by : an attachment configured to be attached to a filler rod , the attachment comprising a second set of visual markers ; one or more sensors configured to detect the first set of visual markers and second set of visual markers ; and control circuitry in communication with the one or more sensors , the control circuitry configured to: determine a first position of the GTAW welding torch or a first orientation of the GTAW welding torch based on detection of the first set of visual markers by the one or more sensors ; determine a second position of the filler rod and a second orientation of the filler rod based on detection of the second set of visual markers by the one or more sensors ; determine one or more torch parameters based on the first position or the first orientation of the GTAW welding torch , wherein the one or more torch parameters comprise an arc length, a travel speed, or an aim of the GTAW welding torch ; and determine one or more filler rod parameters based on the second position and the second orientation of the filler rod , the one or more filler rod parameters comprising one or more dipping parameters, one or more weave parameters, an aim of the filler rod, a work angle of the filler rod, or a travel angle of the filler rod . an attachment configured to be attached to a filler rod , the attachment comprising a second set of visual markers ; one or more sensors configured to detect the first set of visual markers and second set of visual markers ; and control circuitry in communication with the one or more sensors , the control circuitry configured to: determine a first position of the GTAW welding torch or a first orientation of the GTAW welding torch based on detection of the first set of visual markers by the one or more sensors ; determine a second position of the filler rod and a second orientation of the filler rod based on detection of the second set of visual markers by the one or more sensors ; determine one or more torch parameters based on the first position or the first orientation of the GTAW welding torch , wherein the one or more torch parameters comprise an arc length, a travel speed, or an aim of the GTAW welding torch ; and determine one or more filler rod parameters based on the second position and the second orientation of the filler rod , the one or more filler rod parameters comprising one or more dipping parameters, one or more weave parameters, an aim of the filler rod, a work angle of the filler rod, or a travel angle of the filler rod . determine a first position of the GTAW welding torch or a first orientation of the GTAW welding torch based on detection of the first set of visual markers by the one or more sensors ; determine a second position of the filler rod and a second orientation of the filler rod based on detection of the second set of visual markers by the one or more sensors ; determine one or more torch parameters based on the first position or the first orientation of the GTAW welding torch , wherein the one or more torch parameters comprise an arc length, a travel speed, or an aim of the GTAW welding torch ; and determine one or more filler rod parameters based on the second position and the second orientation of the filler rod , the one or more filler rod parameters comprising one or more dipping parameters, one or more weave parameters, an aim of the filler rod, a work angle of the filler rod, or a travel angle of the filler rod . <EOS>