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If you don't want to go through the trouble of writing a plugin, you can right-click the model and choose Follow and the camera will follow the robot. Press ESC to leave follow mode.

Programmatically, I think it should be possible to emit gui::Events::follow(<modelName>). And gui::Events::follow("") to stop following.

The ground plane seems to end where the gray square ends, but if you try to place models beyond that point you'll see it's possible. You can also edit a model's pose on the left panel, I guess the only limitation should be numeric.