Call REST API from HCM Adapter in ICS

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I am creating a integration where I have a person number in a variable and I need to fetch the Person First Name and Last Name from HCM cloud application. I was thinking to use "Worker" Rest API under business REST resources but I have checked that PersonID is a required parameter here which I don't have in Integration.

Please see the attached screenshot.

Another API is "emps" (Where person number can be used as input) but it look like it is not available under HCM adapter in ICS. is there any other REST API available here. I know we can create a REST API connection and access any REST API but client doesn't want to create another connection for REST API.