There may be a problem with the vm@VC:VirtualMachine parameter name. As an example, I have two jenkins jobs, each job passing a single parameter to it's linked orchestrator workflow (Copy file from vCO to guest). The only difference between the two scenarios is that in one case (the failure) Jenkins uses the vm@VC:VirtualMachine parameter name as the sole input to the orchestrator workflow. In the case that succeeds, the VM variable is set in the orchestrator workflow as an attribute, and the jenkins job passes another variable, instead (the VM password) as the sole parameter passed from jenkins to orchestrator. Other than the change to the single input type passed by jenkins (vm@VC:VirtualMachine parameter versus VM Password) all other aspects appear identical. When I manually run the orchestrator workflow from the failed scenario in workflow designer, the workflow runs fine after specifying the VC:VirtualMachine input parameter.

Orchestrator Appliance log stream:
2016-04-12 07:42:38.857-0400 [WorkflowExecutorPool-Thread-329] INFO

{anonymous:copy anonymous to anonymous vm:dfd361ec-f0d0-4ff5-b105-aade124c9aee:token=8a6d44ad53c834cd01540a47cb120cd3}

[WorkflowHandler] Starting workflow 'copy anonymous to anonymous vm' (8a6d44ad53c834cd01540a47cb120cd3)...

2016-04-12 07:42:38.867-0400 [WorkflowExecutorPool-Thread-329] INFO

{anonymous:copy anonymous to anonymous vm:dfd361ec-f0d0-4ff5-b105-aade124c9aee:token=8a6d44ad53c834cd01540a47cb120cd3}

[VimPluginFactory] VimPluginFactory() finished in 2 ms; tokenPrincipal: anonymous; sessionId: dbcfd2bb-dec9-4249-b0ae-c06e78b02608

2016-04-12 07:42:38.868-0400 [WorkflowExecutorPool-Thread-329] WARN

{anonymous:copy anonymous to anonymous vm:dfd361ec-f0d0-4ff5-b105-aade124c9aee:token=8a6d44ad53c834cd01540a47cb120cd3}

[VimPluginFactory] find() --> sdkType 'VirtualMachine', id 'anonymous', VimHost 'anonymous' does not exist

2016-04-12 07:42:38.875-0400 [WorkflowExecutorPool-Thread-329] WARN

{anonymous:copy anonymous to anonymous vm:dfd361ec-f0d0-4ff5-b105-aade124c9aee:token=8a6d44ad53c834cd01540a47cb120cd3}

[VimPluginFactory] find() --> sdkType 'VirtualMachine', id 'anonymous', VimHost 'anonymous' does not exist

2016-04-12 07:42:38.933-0400 [WorkflowExecutorPool-Thread-329] ERROR

{anonymous:copy anonymous to anonymous vm:dfd361ec-f0d0-4ff5-b105-aade124c9aee:token=8a6d44ad53c834cd01540a47cb120cd3}

[SCRIPTING_LOG] [copy anonymous to anonymous vm (4/12/16 07:42:37)] Error in (Workflow:copy anonymous to anonymous vm / Scriptable task (item1)#2) TypeError: Cannot read property "guestOperationsManager" from undefined

2016-04-12 07:42:38.936-0400 [WorkflowExecutorPool-Thread-329] WARN

{anonymous:copy anonymous to anonymous vm:dfd361ec-f0d0-4ff5-b105-aade124c9aee:token=8a6d44ad53c834cd01540a47cb120cd3}

[WorkflowItemTaskRunner] Script execution error on workflow : copy anonymous to anonymous vm / 'Scriptable task'(item1) : TypeError: Cannot read property "guestOperationsManager" from undefined (Workflow:copy anonymous to anonymous vm / Scriptable task (item1)#2)

2016-04-12 07:42:38.943-0400 [WorkflowExecutorPool-Thread-329] ERROR

{anonymous:copy anonymous to anonymous vm:dfd361ec-f0d0-4ff5-b105-aade124c9aee:token=8a6d44ad53c834cd01540a47cb120cd3}

[SCRIPTING_LOG] Workfow execution stack:
***
item: 'copy anonymous to anonymous vm/item1', state: 'failed', business state: 'null', exception: 'TypeError: Cannot read property "guestOperationsManager" from undefined (Workflow:copy anonymous to anonymous vm / Scriptable task (item1)#2)'
workflow: 'copy anonymous to anonymous vm' (dfd361ec-f0d0-4ff5-b105-aade124c9aee)

Jenkins Console Output:
07:42:35 Started by user anonymous
07:42:35 [EnvInject] - Loading node environment variables.
07:42:35 Building remotely on anonymous in workspace F:\jenkins\workspace\anonymous_orchestrator_copy-anonymous-to-anonymous_vm
07:42:36 Starting Orchestrator workflow execution : dfd361ec-f0d0-4ff5-b105-aade124c9aee
07:42:48 FATAL: Workflow execution failed.
07:42:48 java.io.IOException: Workflow execution failed.
07:42:48 at com.vmware.vro.jenkins.plugin.OrchestratorCallable.call(OrchestratorCallable.java:66)
07:42:48 at com.vmware.vro.jenkins.plugin.OrchestratorCallable.call(OrchestratorCallable.java:17)
07:42:48 at hudson.remoting.UserRequest.perform(UserRequest.java:121)
07:42:48 at hudson.remoting.UserRequest.perform(UserRequest.java:49)
07:42:48 at hudson.remoting.Request$2.run(Request.java:325)
07:42:48 at hudson.remoting.InterceptingExecutorService$1.call(InterceptingExecutorService.java:68)
07:42:48 at java.util.concurrent.FutureTask.run(Unknown Source)
07:42:48 at java.util.concurrent.ThreadPoolExecutor.runWorker(Unknown Source)
07:42:48 at java.util.concurrent.ThreadPoolExecutor$Worker.run(Unknown Source)
07:42:48 at hudson.remoting.Engine$1$1.run(Engine.java:69)
07:42:48 at java.lang.Thread.run(Unknown Source)
07:42:48 at ......remote call to anonymous(Native Method)
07:42:48 at hudson.remoting.Channel.attachCallSiteStackTrace(Channel.java:1360)
07:42:48 at hudson.remoting.UserResponse.retrieve(UserRequest.java:221)
07:42:48 at hudson.remoting.Channel.call(Channel.java:753)
07:42:48 at com.vmware.vro.jenkins.plugin.OrchestratorBuilder.perform(OrchestratorBuilder.java:113)
07:42:48 at hudson.tasks.BuildStepMonitor$1.perform(BuildStepMonitor.java:20)
07:42:48 at hudson.model.AbstractBuild$AbstractBuildExecution.perform(AbstractBuild.java:761)
07:42:48 at hudson.model.Build$BuildExecution.build(Build.java:203)
07:42:48 at hudson.model.Build$BuildExecution.doRun(Build.java:160)
07:42:48 at hudson.model.AbstractBuild$AbstractBuildExecution.run(AbstractBuild.java:536)
07:42:48 at hudson.model.Run.execute(Run.java:1741)
07:42:48 at hudson.model.FreeStyleBuild.run(FreeStyleBuild.java:43)
07:42:48 at hudson.model.ResourceController.execute(ResourceController.java:98)
07:42:48 at hudson.model.Executor.run(Executor.java:374)
07:42:48 Caused by: java.io.IOException: Workflow execution failed.
07:42:48 at com.vmware.vro.jenkins.plugin.OrchestratorCallable.call(OrchestratorCallable.java:52)
07:42:48 at com.vmware.vro.jenkins.plugin.OrchestratorCallable.call(OrchestratorCallable.java:17)
07:42:48 at hudson.remoting.UserRequest.perform(UserRequest.java:121)
07:42:48 at hudson.remoting.UserRequest.perform(UserRequest.java:49)
07:42:48 at hudson.remoting.Request$2.run(Request.java:325)
07:42:48 at hudson.remoting.InterceptingExecutorService$1.call(InterceptingExecutorService.java:68)
07:42:48 at java.util.concurrent.FutureTask.run(Unknown Source)
07:42:48 at java.util.concurrent.ThreadPoolExecutor.runWorker(Unknown Source)
07:42:48 at java.util.concurrent.ThreadPoolExecutor$Worker.run(Unknown Source)
07:42:48 at hudson.remoting.Engine$1$1.run(Engine.java:69)
07:42:48 at java.lang.Thread.run(Unknown Source)
07:42:48 [BFA] Scanning build for known causes...
07:42:48 [BFA] No failure causes found
07:42:48 [BFA] Done. 0s
07:42:48 Started calculate disk usage of build
07:42:48 Finished Calculation of disk usage of build in 0 seconds
07:42:48 Started calculate disk usage of workspace
07:42:48 Finished Calculation of disk usage of workspace in 0 seconds
07:42:48 Finished: FAILURE

Despite the Orchestrator Appliance log stream identifying "'VirtualMachine', id 'anonymous', VimHost 'anonymous' does not exist", clearly, that host does exist, as when I manually run the orchestrator workflow from the failed scenario in workflow designer, the workflow runs fine after specifying the VC:VirtualMachine input parameter.