Pick Vertex with isaac sim

I would like to know how should I approach a raycast to vertex from mouse.
I want to build a tool that display measurement of the mesh edges, my plan is to perform a raycast from camera. I already know how to get projection matrix,cursor position and perform the raycast using Physx. My question is with the hit information, how do I make the cast hit exactly one vertex of the mesh?

you might find this tool usefu: Measure Tool — Omniverse Extensions documentation

I can’t find this this tool, would you tell me where should I find this?

In the extension manager

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