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Now a straight forward workflow to do this is present in the below link.

http://udig.refractions.net/files/docs/uDigWalkthrough2.pdf

Point 3 of page 8 states to change to the ‘Edit Geometry’ tool from the tool bar. enter image description here

But I can’t find this anywhere in the uDig interface.

enter image description here

What could I be missing?

Do note that the service added to uDig is a WFS-T service from ArcGIS Server and not GeoServer.

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Have you checked the permissions on your WFS layer? –  R.K. Feb 9 '12 at 9:18
    
@R.K. - Will permissions matter in at least getting the option to edit Geometry? Regardless, I have checked the permissions to confirm if they are correct and available. –  Thomas Feb 10 '12 at 5:10
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ESRI web help seems to suggest so> *Specific WFS editors must be granted permissions on the SDE connection file in order to edit. webhelp.esri.com/arcgisserver/9.3/java/… –  R.K. Feb 10 '12 at 6:06
    
OK. The user with which I have connected to ArcSDE and added data to ArcMap in order to create a WFS service has the option to edit. It'll be this same user that'll be used by the client (through the ArcGIS WFS-T service), inorder to make the edits. Anything else I could check? Do you suspect there is a toolbar I may have missing? I've looked through all the available options in uDig to find the Toolbar the PDF refers to. –  Thomas Feb 10 '12 at 8:17
    
Did you enable transactions already? –  R.K. Feb 14 '12 at 2:42
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