diff --git a/CLAUDE.md b/CLAUDE.md
index 373911c..b518a54 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -8,6 +8,10 @@ This file provides guidance to Claude Code (claude.ai/code) when working with co
   quite high. This *requires* that you use the MCP server to avoid starting a
   new Julia session each time.
 
+- Run tests by using the MCP server and `include(test/runtests.jl)` rather than `Pkg.test()`. This will
+avoid lengthy recompilation and will work even if you iterate changes on the package due to
+`Revise`.
+
 - Exploit Julia packages and macros for evaluating performance issues:
   `BenchmarkTools.jl` for micro-benchmarks, `Profile` for CPU profiling, and
   `Cthulhu.jl` for method analysis (or `@code_warntype`). These tools are in
diff --git a/NEWS.md b/NEWS.md
index 2275ad3..3bf35bf 100644
--- a/NEWS.md
+++ b/NEWS.md
@@ -2,6 +2,11 @@
 
 We started keeping track of changes in the `NEWS.md` file after version 0.1.0.
 
+# PlantGeomTurtle 1.0.2 (2026-06-17)
+
+* Add `Ellipsoid!` and `Ellipsoid` turtle constructors to generate solid ellipsoids
+  in front of the turtle. Requires PlantGeomPrimitives 1.0.2.
+
 # PlantGeomTurtle 1.0.0 (2026-06-10)
 
 No actual changes. We move to version 1.0.0 because:
diff --git a/Project.toml b/Project.toml
index c45bdd4..a5ebc82 100644
--- a/Project.toml
+++ b/Project.toml
@@ -1,7 +1,7 @@
 name = "PlantGeomTurtle"
 uuid = "7d6e2781-1c99-4c66-97ec-106669f3e96e"
 authors = ["Alejandro Morales Sierra <alejandro.moralessierra@wur.nl> and contributors"]
-version = "1.0.0"
+version = "1.0.2"
 
 [deps]
 CoordinateTransformations = "150eb455-5306-5404-9cee-2592286d6298"
@@ -15,7 +15,7 @@ Unrolled = "9602ed7d-8fef-5bc8-8597-8f21381861e8"
 [compat]
 CoordinateTransformations = "0.6.3"
 LinearAlgebra = "1.11"
-PlantGeomPrimitives = "1.0.0"
+PlantGeomPrimitives = "1.0.3"
 PlantGraphs = "1.0.0"
 Rotations = "1.5.1"
 StaticArrays = "1.9.13"
diff --git a/src/Primitives.jl b/src/Primitives.jl
index fb6c0e9..e58e929 100644
--- a/src/Primitives.jl
+++ b/src/Primitives.jl
@@ -1064,16 +1064,87 @@ function PGP.SolidFrustum(turtle::Turtle{FT,UT}; length::FT = one(FT), width::FT
 end
 
 
-function Ellipsoid!(turtle::Turtle{FT,UT}; length::FT = one(FT), width::FT = one(FT),
-                    height::FT = one(FT), n::Int = 20, move = false, kwargs...) where {FT,UT}
-    @error "Ellipsoid not implemented yet"
+"""
+    Ellipsoid!(turtle; length = 1.0, width = 1.0, height = 1.0, n = 20, move = false, kwargs...)
+
+Generate a solid ellipsoid in front of the turtle and feed it to a turtle.
+
+## Arguments
+- `turtle`: The turtle that we feed the solid ellipsoid to.
+- `length`: Length of the solid ellipsoid along the head axis.
+- `width`: Width of the solid ellipsoid along the arm axis.
+- `height`: Height of the solid ellipsoid along the up axis.
+- `n`: Number of latitude and azimuth subdivisions. The mesh has `2n(n-1)` triangles.
+- `move`: Whether to move the turtle forward or not (`true` or `false`).
+- `kwargs`: Properties to be set per triangle in the mesh.
+
+## Details
+A mesh will be generated with `2n(n-1)` triangles that approximate the solid ellipsoid.
+The ellipsoid will be generated in front of the turtle, with the base centered at the
+turtle's current position. The `length` argument refers to the axis aligned with the head
+axis of the turtle, whereas `width` refers to the arm axis and `height` to the up axis.
+
+When `move = true`, the turtle will be moved forward by a distance equal to `length`.
+
+## Return
+Returns `nothing` but modifies the `turtle` as a side effect.
+
+## Examples
+```jldoctest
+julia> turtle = Turtle();
+
+julia> e = Ellipsoid!(turtle; length = 1.0, width = 0.5, height = 0.5, n = 20);
+```
+"""
+function PGP.Ellipsoid!(turtle::Turtle{FT,UT}; length::FT = one(FT), width::FT = one(FT),
+                        height::FT = one(FT), n::Int = 20, move = false, kwargs...) where {FT,UT}
+    trans = transformation(turtle, PGP.Vec(height / FT(2), width / FT(2), length / FT(2)))
+    PGP.Ellipsoid!(PGP.Mesh(turtle), trans; n = n)
+    ntri = 2n * (n - 1)
+    for (k, v) in kwargs
+        PGP.add_property!(PGP.Mesh(turtle), k, v, ntri)
+    end
+    move && f!(turtle, length)
     return nothing
 end
 
-function Ellipsoid(turtle::Turtle{FT,UT}; length::FT = one(FT), width::FT = one(FT),
-                   height::FT = one(FT), n::Int = 20, move = false) where {FT,UT}
-    @error "Ellipsoid not implemented yet"
-    return nothing
+"""
+    Ellipsoid(turtle; length = 1.0, width = 1.0, height = 1.0, n = 20, move = false)
+
+Generate a solid ellipsoid in front of the turtle and return it.
+
+## Arguments
+- `turtle`: The turtle which state is used to create the solid ellipsoid.
+- `length`: Length of the solid ellipsoid along the head axis.
+- `width`: Width of the solid ellipsoid along the arm axis.
+- `height`: Height of the solid ellipsoid along the up axis.
+- `n`: Number of latitude and azimuth subdivisions. The mesh has `2n(n-1)` triangles.
+- `move`: Whether to move the turtle forward or not (`true` or `false`).
+
+## Details
+A mesh will be generated with `2n(n-1)` triangles that approximate the solid ellipsoid.
+The ellipsoid will be generated in front of the turtle, with the base centered at the
+turtle's current position. The `length` argument refers to the axis aligned with the head
+axis of the turtle, whereas `width` refers to the arm axis and `height` to the up axis.
+
+When `move = true`, the turtle will be moved forward by a distance equal to `length`.
+
+## Return
+Returns a triangular mesh (object of type `Mesh`).
+
+## Examples
+```jldoctest
+julia> turtle = Turtle();
+
+julia> e = Ellipsoid(turtle; length = 1.0, width = 0.5, height = 0.5, n = 20);
+```
+"""
+function PGP.Ellipsoid(turtle::Turtle{FT,UT}; length::FT = one(FT), width::FT = one(FT),
+                       height::FT = one(FT), n::Int = 20, move = false) where {FT,UT}
+    trans = transformation(turtle, PGP.Vec(height / FT(2), width / FT(2), length / FT(2)))
+    e = PGP.Ellipsoid(trans; n = n)
+    move && f!(turtle, length)
+    return e
 end
 
 
diff --git a/test/runtests.jl b/test/runtests.jl
index 0b070c3..99e3623 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -68,6 +68,9 @@ end
 @testset "solid_cone" begin
     include("test_solid_cone.jl")
 end
+@testset "ellipsoid" begin
+    include("test_ellipsoid.jl")
+end
 @testset "mesh" begin
     include("test_mesh.jl")
 end
diff --git a/test/test_ellipsoid.jl b/test/test_ellipsoid.jl
new file mode 100644
index 0000000..430b2f3
--- /dev/null
+++ b/test/test_ellipsoid.jl
@@ -0,0 +1,33 @@
+import PlantGeomTurtle as PGT
+import PlantGeomPrimitives as PGP
+using Test
+
+let
+
+    n = 20
+
+    # Construct solid ellipsoid using a turtle
+    e = PGP.Ellipsoid(length = 2.0, width = 1.0, height = 0.5, n = n)
+    t = PGT.Turtle(Float64)
+    PGP.Ellipsoid!(t; length = 2.0, width = 1.0, height = 0.5, n = n, move = true)
+    @test PGP.Mesh(t) == e
+    @test PGT.pos(t) == PGP.Vec{Float64}(0, 0, 2)
+
+    t = PGT.Turtle(Float64)
+    e2 = PGP.Ellipsoid(t; length = 2.0, width = 1.0, height = 0.5, n = n, move = false)
+    @test e2 == e
+    @test PGT.pos(t) == PGP.Vec{Float64}(0, 0, 0)
+
+    # Check properties
+    ntri = 2n * (n - 1)
+    t = PGT.Turtle(Float64)
+    PGP.Ellipsoid!(t; length = 2.0, width = 1.0, height = 0.5, n = n, move = false, colors = rand(RGB))
+    @test length(get_colors(t)) == ntri
+    @test get_colors(t)[1] == get_colors(t)[4]
+
+    t = PGT.Turtle(Float64)
+    PGP.Ellipsoid!(t; length = 2.0, width = 1.0, height = 0.5, n = n, move = false, colors = [rand(RGB) for _ in 1:ntri])
+    @test length(get_colors(t)) == ntri
+    @test get_colors(t)[1] != get_colors(t)[4]
+
+end