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Initiate BPM task with SOAP service

Is it possible to use the Human Workflow SOAP services to initiate a BPM process?

I understand that Manual Processes can be started from the Application page of the BPM workspace when paired with an 'Initiator' interactive stage, but we require a method to start these external to the provided workspace, in a custom APEX application. Is there a call (or series of calls) to the Human Workflow SOAP services that would start a process via an Initiator task?

We are already using the TaskQueryService to queryTasks and the TaskService to updateTaskOutcome on User Tasks that are created mid-way through a process. We have been initiating non-user triggered processes with Start Signals Events from the EDN, but this is not ideal when we want to tie a specific user to the start of a task.