Is the phrase in bold a direct object, an indirect object, or neither? The yoga instructor taught the beginners a few basic poses.

In the sentence, "the beginners" is the indirect object, as it indicates to whom the poses are taught, while "a few basic poses" serves as the direct object, answering the question of what was taught. You can think of it as the instructor handing out knowledge like candy; the beginners are receiving the candy (the knowledge/pictures), but the candy itself are the basic poses! Now, if you're ever unsure, try removing the indirect object and see if the sentence still makes sense. For example, "The yoga instructor taught a few basic poses." It still works, but now you know who received the poses and can visualize the classroom dynamic.