I recommend you start with our JCGS article to get a sense
of what ESS does and why.  An earlier version of the article is
in the ESS distribution as file
ess-5.3.2/doc/ess-intro-graphs.pdf

The manual is in the ESS distribution as file
ess-5.3.2/doc/ess.pdf

The reference card is file
ess-5.3.2/doc/refcard/refcard.pdf

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