Calling an Asterisk extension

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Hi, Mi name is Jose and I'm a newbie in VOIP. I've configured an asterisk on a debian linux and I've installed the pjsip package. I run the PJSUA demo application in linux, it's register OK on the asterisk server. But I don't know how to call an extension of asterisk, in my extensions.conf I've created only one extension that is:
[first_example]
exten => _XXX,1,Answer()
exten => _XXX,n,Congestion()
exten => _XXX,n,Hangup()
It's very simple, but I don't know how to call it extension from the PJSUA, when I put the "m" command its ask me for an URL and I don't know how to specify it, I tested with 100 at first_example, 100 at 192.168.0.2, only 100, and the error is the same: Invalid Request URI. But if I make the call with a softphone, pe, SJPhone, I only dial the extension number and it connects ok.
Conclusion, How can I do to connect to an Extension's asterisk from PJSUA?

Thanks in advance,
Jose
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