diff --git a/src/roboticstoolbox/robot/BaseRobot.py b/src/roboticstoolbox/robot/BaseRobot.py
index 62c430c4..97008c37 100644
--- a/src/roboticstoolbox/robot/BaseRobot.py
+++ b/src/roboticstoolbox/robot/BaseRobot.py
@@ -2225,11 +2225,13 @@ def teach(
         already_blocked = env._add_teach_panel(self, q, handle, block)
 
         if vellipse:
-            vell = self.vellipse(q, centre="ee", scale=0.5, add=False)
+            vell = self.vellipse(q, centre="ee", add=False)
+            env._teach_vellipse = vell
             env.add(vell)
 
         if fellipse:
             fell = self.fellipse(q, centre="ee", add=False)
+            env._teach_fellipse = fell
             env.add(fell)
 
         # Keep the plot open -- skipped if the backend already blocked