According to the error shown, this seems to be related to the CSRF (Cross-Site Request Forgery) protection enforced by SailPoint IdentityIQ’s RestCsrfValidationFilter.
To confirm if this is the root cause, please try one of the following steps:
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Open a private/incognito browser session with only one tab and try the action again.
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Alternatively, edit iiq/WEB-INF/web.xml and temporarily remove (or comment out) the and entries for RestCsrfValidationFilter.
Restart IIQ after making the change and then test again.
You may also want to review this related discussion:
How to develop an HTTP POST method in Java classes (Rest resources extend BasePluginResource)
Let me know how it goes after testing.