This problem is not solved, but I have a workaround. I have gotten it working by avoiding the repository and specifying the form location from the file system. This works:
Content Root URI: file:///C:\\
Form to Render: CANS_ASP.pdf
In case it wasn't clear, I'm not using a FormServiceClient object. I'm invoking an orchestration using a ServiceClient. The Content Root URI and Form To Render are specified in the properties of my renderPDFForm component in Workbench. I'm able to move ahead with development using this workaround for now, but the question remains about why repository:// does not work when my orchestration is invoked using the Java API but it works fine when tested from WorkBench.
Jared Langdon