  Rare-earth titanates RTiO$_3$ are Mott insulators displaying a rich physical
behavior, featuring most notably orbital and spin orders in their ground state.
The origin of their ferromagnetic to antiferromagnetic transition as a function
of the size of the rare-earth however remains debated. Here we show on the
basis of symmetry analysis and first-principles calculations that although
rare-earth titanates are nominally Jahn-Teller active, the Jahn-Teller
distortion is negligible and irrelevant for the description of the ground state
properties. At the same time, we demonstrate that the combination of two
antipolar motions produces an effective Jahn-Teller-like motion which is the
key of the varying spin-orbital orders appearing in titanates. Thus, titanates
are prototypical examples illustrating how a subtle interplay between several
lattice distortions commonly appearing in perovskites can produce orbital
orderings and insulating phases irrespective of proper Jahn-Teller motions.
