These are only examples, for a few very common actions. You are expected to write your own rules for the rest.
See the polkit(8) manpage for rule syntax. (It's JavaScript.)
If you don't know the action name, run pkaction:
pkaction | grep cups
Put your rules in /etc/polkit-1/rules.d/*.rules. (You can check everything in one giant addRule, or you can have a separate file and separate addRule for each program; it doesn't matter.)
To test your rules, use pkcheck:
pkcheck -u -p $$ -a org.freedesktop.packagekit.upgrade-system