How to POST (create) a folder using CMIS REST in Webcenter

Has anyone tried to create a new folder using CMIS REST/Atom calls in Webcenter ?
Here's what I try to do:
http://172.31.100.150:7001/cmisrestprelim/cmis/children/MyContentServer ==>POST (using the REST client plug-in in Firefox)
Content-Type=application/atom+xml
<?xml version="1.0" encoding="utf-8"?>
<entry xmlns="http://www.w3.org/2005/Atom"
xmlns:cmisra="http://docs.oasis-open.org/ns/cmis/restatom/200908/"
xmlns:cmis="http://docs.oasis-open.org/ns/cmis/core/200908/">
<title>mytestfolder</title>
<cmisra:object>
<cmis:properties>
<cmis:propertyId propertyDefinitionId="cmis:objectTypeId"><cmis:value>cmis:folder</cmis:value></cmis:propertyId>
</cmis:properties>
</cmisra:object>
</entry>
This piece of code should create a folder called "mytestfolder" in the root directory.
When I POST this, I get the following internal server error:
<pre>javax.servlet.ServletException: com.sun.jersey.api.container.MappableContainerException: com.bea.content.RepositoryException: Please specify a valid ID object. Make sure the repository name is not null.
     at com.sun.jersey.spi.container.servlet.WebComponent.service(WebComponent.java:310)
     at com.sun.jersey.spi.container.servlet.ServletContainer.service(ServletContainer.java:314)
     at com.sun.jersey.spi.container.servlet.ServletContainer.service(ServletContainer.java:239)
     at weblogic.servlet.internal.StubSecurityHelper$ServletServiceAction.run(StubSecurityHelper.java:227)
     at weblogic.servlet.internal.StubSecurityHelper.invokeServlet(StubSecurityHelper.java:125)
     at weblogic.servlet.internal.ServletStubImpl.execute(ServletStubImpl.java:300)
     at weblogic.servlet.internal.TailFilter.doFilter(TailFilter.java:26)
     at weblogic.servlet.internal.FilterChainImpl.doFilter(FilterChainImpl.java:56)
     at com.bea.content.manager.servlets.ContentServletFilter.doFilter(ContentServletFilter.java:178)
     at weblogic.servlet.internal.FilterChainImpl.doFilter(FilterChainImpl.java:56)
     at oracle.security.jps.ee.http.JpsAbsFilter$1.run(JpsAbsFilter.java:94)
Anyone has an idea how to solve this ?

I must admit that I'm fairly new to all the CMIS and REST-things....
So there are a couple of things in your answer that are a bit hazy to me.
It looks like you are more familiar with all this.
How do I find a creatable folder ? And what should be the URI to POST a new folder ?
I try to POST a new folder using this URI:
http://172.31.100.150:7001/cmisrestprelim/cmis/children/MyContentServer/IDC:Folder%2F13
(IDC:Folder%2F13 is the /Contribution Folders/Documents folder in my repository)
This POST keeps me giving the following internal server error:
<pre>javax.servlet.ServletException: com.sun.jersey.api.container.MappableContainerException: com.bea.content.RepositoryException: Please specify a valid ID object. Make sure the repository name is not null.
     at com.sun.jersey.spi.container.servlet.WebComponent.service(WebComponent.java:310)
     at com.sun.jersey.spi.container.servlet.ServletContainer.service(ServletContainer.java:314)
     at com.sun.jersey.spi.container.servlet.ServletContainer.service(ServletContainer.java:239)
     at weblogic.servlet.internal.StubSecurityHelper$ServletServiceAction.run(StubSecurityHelper.java:227)
     at weblogic.servlet.internal.StubSecurityHelper.invokeServlet(StubSecurityHelper.java:125)
     at weblogic.servlet.internal.ServletStubImpl.execute(ServletStubImpl.java:300)
     at weblogic.servlet.internal.TailFilter.doFilter(TailFilter.java:26)
     at weblogic.servlet.internal.FilterChainImpl.doFilter(FilterChainImpl.java:56)
     at com.bea.content.manager.servlets.ContentServletFilter.doFilter(ContentServletFilter.java:178)
     at weblogic.servlet.internal.FilterChainImpl.doFilter(FilterChainImpl.java:56)
     at oracle.security.jps.ee.http.JpsAbsFilter$1.run(JpsAbsFilter.java:94)
Thanks for helping me out.

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