ViV,
You're right, it's a GET call. Here's the simplest form, which will return default fields and relationships.
{{url}}/public/animals/16995700
But you probably want to include the related data, with a query such as:
{{url}}/public/animals/16995700?include=breeds,colors,fosters,locations,orgs,patterns,pictures,species,statuses,videos,videourls
Hope that helps!
Richard