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When you created the policy set (PS) you left step 3 and 4 blank.
Step 4 concerns document publishers, which is basically the list of users that are allowed to add a policy from that policy set.
If the list is empty, then nobody is allowed to add a policy from that policy set to any documents.
Thank you for your reply Jasmin. In the mean time we figured this out and fixed the problem by updating step 3 and 4 of the policy the same way you suggest it in your answer.
We also wondered for a while about the 5th and 6th parameters of the applyPolicy web method, namely the pubDomain and pubUserName. The LiveCycle ES Java API Reference documentation for the DocumentationManager interface clearly states both or none of them must be set. Sadly, the documentation doesn't highlight another important requirement : the credentials used to invoke the API / web service must be one of a user bound to a role that has been given the 'Identity Impersonation Control' access right. Failing to comply with this additional requirement triggers the following exception when invoking the web service :
com.adobe.edc.sdk.SDKException: Context not authorized with permission : Identity Impersonation Control -- Authentication failed(error code bin: 513, hex: 0x201)