A training machine to generate training data for supervised machine learning. The training machine is a working machine with a camera, a sensor, a body, and a moveable element moveable relative to the body. Training data is generated by capturing images, using the camera of at least a portion of the moveable element; and determining, using the sensor, sensor data which indicates the position of the moveable element in the image. The training data is used to train a machine learning algorithm to determine a position of a moveable element based on an image of at least a portion of the moveable element, without the need for corresponding sensor data.