While the Help is useful we find one of the easiest ways to explore and test the services to be Postman. This project contains a Postman Collection which is a set of runnable examples showing how to use all the basic features of the services that you can point to your environment and modify. To set that up:
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Install Postman
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Import the Sample Collection. See this for details on importing a collection.
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Add/Update an environment for your local server. The collection includes a Host environment variable which you should change to your test server's api root url.
At that point you can explore the collection and run any of the samples.