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To specify that a parameter use a path to reference a JSON node in the input, end the parameter name with .$ (from doc).
In your case:
"Step Name": {
"Type": "Task",
"Resource": "arn:aws:states:::sns:publish",
"Parameters": {
"TopicArn": "${TopicARN}",
"Message": {
"id.$": "$.id",
"param1.$": "$.param1",
"param2.$": "$.param2",
"metadata.$": "$"
},
"MessageAttributes": {
"type": {
"DataType": "String",
"StringValue.$": "$.type"
},
"id": {
"DataType": "String",
"StringValue.$": "$.id"
}
}
},
"End": true
}
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That's exactly what I was looking for, now sure how I missed it. Thanks!