So, in Step 4: Going through the Oauth Process to Interact with the Endpoint of the link you linked to about creating a rest endpoint they explain how you get the bearer uuid and endpoint given the Client ID and Client Secret - you get the bearer uuid and endpoint url after you complete the oauth with smartthings.
I wrote a little node.js app that does this and prints out the two values after doing the oauth, if you want to use that - see Updated Developer Docs!