AWSSecurityTokenServiceException: Acced denied. User is not authorized to perform sts:AssumeRole

Question

I'm new to aws. I want to generate temporary credentials for aws call. And for that I use example from Making Requests Using IAM User Temporary Credentials - AWS SDK for Java

Where I pass

String clientRegion = "<specific region>";
String roleARN = "<ARN from role>";
String roleSessionName = "Just random string"; //<-- maybe I should pass specific SessionName?
String bucketName = "<specific bucket name>";

And when trying assume role

stsClient.assumeRole(roleRequest);

get an error

com.amazonaws.services.securitytoken.model.AWSSecurityTokenServiceException: User: arn:aws:iam:::user/ is not authorized to perform:

sts:AssumeRole on resource: arn:aws:iam::<ID>:role/<ROLE_NAME> (Service: AWSSecurityTokenService; Status Code: 403; Error Code:

AccessDenied; Request ID:)

I have a cognito role. I think the problem in role Trust Relationship settings. It looks like this:

    {
  "Version": "2012-10-17",
  "Statement": [
    {
      "Effect": "Allow",
      "Principal": {
        "AWS": "arn:aws:iam::<iam user ID>:user/<USER_NAME>",
        "Federated": "cognito-identity.amazonaws.com"
      },
      "Action": "sts:AssumeRoleWithWebIdentity",
      "Condition": {
        "StringEquals": {
          "cognito-identity.amazonaws.com:aud": "<user pool ID>"
        },
        "ForAnyValue:StringLike": {
          "cognito-identity.amazonaws.com:amr": "authenticated"
        }
      }
    }
  ]
}

and user policy (This user policy is attached to this Role also):

{
    "Version": "2012-10-17",
    "Statement": [
        {
            "Sid": "<sidId1>",
            "Effect": "Allow",
            "Action": [
                "s3:PutObject",
                "s3:PutObjectAcl"
            ],
            "Resource": [
                "arn:aws:s3:::<path>*"
            ]
        },
        {
            "Sid": "sidId2",
            "Effect": "Allow",
            "Action": [
                "sts:AssumeRole",
                "sts:AssumeRoleWithWebIdentity"
            ],
            "Resource": [
                "arn:aws:iam::<ID>:role/<ROLE_NAME>"
            ]
        }
    ]
}

User policy has two warnings:

What I'm doing wrong?

UPD I changed role Trust relationship, just delete Condition:

{
  "Version": "2012-10-17",
  "Statement": [
    {
      "Effect": "Allow",
      "Principal": {
        "Federated": "cognito-identity.amazonaws.com",
        "AWS": "arn:aws:iam::<ID>:user/<USER>"
      },
      "Action": [
        "sts:AssumeRole",
        "sts:AssumeRoleWithWebIdentity"
      ]
    }
  ]
}

and now Access denied error occurred on another line of code:

  // Verify that assuming the role worked and the permissions are set correctly
  // by getting a set of object keys from the bucket.
  ObjectListing objects = s3Client.listObjects(bucketName);

Received error response: com.amazonaws.services.s3.model.AmazonS3Exception: Access Denied (Service: Amazon S3; Status Code: 403; Error Code: AccessDenied; Request ID: ), S3 Extended Request ID: