I'm trying to figure out this new gazebo, so I launched one of the demos

ign gazebo pendulum_links.sdf

How can I manually interact with the simulation? I want to manually rotate it or apply some force to one of the links, to create a disturbance, just like touching the real robot with my hand. Is it possible? with the former gazebo classic was right click -> Apply Force/Torque

Also the rotate mode is not working, the widget doesn't show up, like the translate mode does. Maybe is because I'm running it in a virtual machine?

P.D. I created a related (but different) question in ROS answers: https://answers.ros.org/question/417101/ros2-humble-gazebo-fortress-ignition-joint-control/