You can use:
- aws command with credentials (that is already assume-role'ed) via: 
$ assume aws ... - Set assume-role'ed credentials to current shell via: 
eval $(assume) 
You need to set environment variables below:
AWS_ROLE_ARNarn:aws:iam::XXX:role/YYY
AWS_ROLE_SESSION_NAME- set appropriate session name
 - eg. 
kyontan_via_cli 
AWS_ACCESS_KEY_IDAWS_SECRET_ACCESS_KEYAWS_SESSION_TOKEN(optional)