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/Can I specify GET URL path parameter in step function?/

Can I specify GET URL path parameter in step function?

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I have a lambda exposing a GET /path/:parameter endpoint and I want to invoke it as part of a Step Function state machine, taking the value of the :parameter from one of the input fields. Is this even possible? All I've been able to find in the documentation is how to specify JSON paths for input and output, and they always seems to be for POST calls.