trust_relationships.json

{
    "Version": "2012-10-17",
    "Statement": [
        {
            "Effect": "Allow",
            "Principal": {
                "Federated": "arn:aws:iam::<YOUR ACCOUNT ID>:oidc-provider/token.actions.githubusercontent.com"
            },
            "Action": "sts:AssumeRoleWithWebIdentity",
            "Condition": {
                "StringEquals": {
                    "token.actions.githubusercontent.com:aud": "sts.amazonaws.com"
                }
            }
        },
        {
            "Effect": "Allow",
            "Principal": {
                "Service": [
                    "lambda.amazonaws.com",
                    "sagemaker.amazonaws.com",
                    "apigateway.amazonaws.com"
                ]
            },
            "Action": "sts:AssumeRole"
        }
    ]
}