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Hi,
the AWS IoT Action for Amazon Timestream does not yet support this use case. I would suggest to use a Lambda function to write the data into Timestream. You can invoke the lambda function directly from a rule using a Lambda function action or you can push the data to Amazon Kinesis or Amazon SQS in order to benefit from batching multiple messages and thus reduce write costs (see https://docs.aws.amazon.com/lambda/latest/dg/invocation-eventsourcemapping.html)
By using a Lambda function you can also benefit from multi-measure records to store the values of your measurements. You can read more about the multi-record measure in this blog post https://aws.amazon.com/blogs/database/store-and-analyze-time-series-data-with-multi-measure-records-magnetic-storage-writes-and-scheduled-queries-in-amazon-timestream/ and in the documentation.
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Any idea on when this will be supported? This is a trivial use case since most payloads will contain nested objects. To route messages firstly to a Lambda function then to Timestream adds complexity & cost to the architecture, especially if you need to add buffers to prevent message loss.