What are the steps to accessing the scene, renderer, and camera objects in Forge Viewer v6 using TypeScript?

In the past, I could utilize code such as this:

var container = viewer.canvas.parentElement;
var renderer = viewer.impl.renderer();
var scene = viewer.impl.scene;

To access Three.js objects in Forge Viewer. With version 6, how can I achieve the same using TypeScript?

I already incorporate the TypeScript definitions for Forge Viewer.

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