Voluntary livestock milking system 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 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 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 outside the milking stalls; and enter the milking stalls, without human intervention, for milking; dairy livestock freely roam in an area 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 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 configured to withdraw the teat cups from the vertical teat cup holder and connect them to the dairy livestock. <EOS>