Rest API is not available for Hyperledger Fabric v.1.0.0. But you can use Java SDK to interact with peers. 
setup your java project with following maven dependencies:
<dependency>
  <groupId>org.hyperledger.fabric-sdk-java</groupId>
  <artifactId>fabric-sdk-java</artifactId>
  <version>1.0.0</version>
</dependency>
Next, you have to get instance of HF client like this: 
final HFClient client = HFClient.createNewInstance();
Next you have to setup crypto materials for client like this:
// Set default crypto suite for HF client
    client.setCryptoSuite(CryptoSuite.Factory.getCryptoSuite());
    client.setUserContext(new User() {
        public String getName() {
            return "testUser";
        }
        public Set<String> getRoles() {
            return null;
        }
        public String getAccount() {
            return null;
        }
        public String getAffiliation() {
            return null;
        }
        public Enrollment getEnrollment() {
            return new Enrollment() {
                public PrivateKey getKey() {
                    // Load your private key
                }
               public String getCert() {
                    // Read client certificate
                }
            };
        }
        public String getMspId() {
            return "Org1MSP";
        }
    });
Channel Configuration:
  final Channel channel = client.newChannel("mychannel");
    channel.addOrderer(client.newOrderer("orderer0", "grpc://localhost:7050"));
    channel.addPeer(client.newPeer("peer0", "grpc://localhost:7051"));
    channel.initialize();
Now, create a transaction proposal:
 final TransactionProposalRequest proposalRequest = client.newTransactionProposalRequest();
    final ChaincodeID chaincodeID = ChaincodeID.newBuilder()
            .setName("myCC")
            .setVersion("1.0")
            .setPath("github.com/yourpackage/chaincode/")
            .build();
    proposalRequest.setChaincodeID(chaincodeID);
    proposalRequest.setFcn("fcn");
    proposalRequest.setProposalWaitTime(TimeUnit.SECONDS.toMillis(10));
    proposalRequest.setArgs(new String[]{"arg1", "arg2"});
Lastly, send the proposal:
    final Collection<ProposalResponse> responses = channel.sendTransactionProposal(proposalRequest);
    CompletableFuture<BlockEvent.TransactionEvent> txFuture = channel.sendTransaction(responses, client.getUserContext());
    BlockEvent.TransactionEvent event = txFuture.get();
    System.out.println(event.toString());