A combined teat position and breeding rating determining arrangement is provided for a milking system comprising a milking stall (5) for housing the milking animal during milking, a movable robot arm (15) for automatically attaching teat cups to (11) the teats of the milking animal in the milking stall, and a control device (19) for controlling the movement of the robot arm based on determined positions of the teats of the milking animal. The arrangement comprises a three-dimensional camera (21) directed towards the udder of the milking animal in the milking stall and provided to repeatedly record three-dimensional images of the udder of the milking animal； and processing means (22) provided to repeatedly detect the teats of the milking animal and determine their positions based on the repeatedly recorded three-dimensional images. Further, the processing means is arranged to automatically determine the shapes of the teats of the milking animal based on the repeatedly recorded three-dimensional images and to calculate a breeding rating based on the determined shapes of the teats of the milking animal.
