Documentation on default mouse/keyboard interactions with the viewer?

Hi, I am aware that I can move around in the viewer while holding the right mouse button and pressing one of the WASD keys simultaneously. Is there also a way to apply forces to one of the joints in the viewer (like MuJoCo)? Where can I find a documentation of all the default interactions that are possible with the viewer?

As far as I know, there is a example in Isaac Gym.