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The yellow orb indicates the focus point of the camera. When you click the mouse to move the camera, Gazebo finds the closest model under the mouse and uses the point on the detected model as the focus point. This allows you to easily orbit around a specific point in the world. Similarly, zooming will move the camera in and out of the world relative to the focus point. This is convenient when trying to zoom in on an object. These feature were introduced because most users wanted this level of control.

It seems that you would like to be able to adjust the default mouse mappings. I've created a ticket for this here:

We have not started work on using a 3D-mouse, but here's a ticket for it (