Microsoft IdentityModel Tokens AudienceUriValidationFailedException when trying to access Sharepoint using REST API - java

I am struggling to understand the whole new idea of accessing my organizatioon's Sharepoint content using Sahrepoint REST API and I am trying to implementing it in java. My aim is to read all the files in "abc" folder which is in Documents folder. Steps I did.
Register the app:
Click Generate Client ID,
Click Generate Client Secret,
Gave Title,
Gave Appdomain as companyname.onmicrosoft, and
Gave Request URI as https://companyname.sharepoint.com/Shared%20Documents/Forms/AllItems.aspx
Got the app registered. I have client id, client secret, and tenant id.
I used the below code to generate the access token
public String getSpToken(String shp_clientId, String shp_tenantId, String shp_clientSecret) {
String accessToken = "";
try {
// AccessToken url
String wsURL = "https://accounts.accesscontrol.windows.net/" + shp_tenantId + "/tokens/OAuth/2";
URL url = new URL(wsURL);
URLConnection connection = url.openConnection();
HttpURLConnection httpConn = (HttpURLConnection) connection;
// Set header
httpConn.setRequestProperty("Content-Type", " ");
httpConn.setDoOutput(true);
httpConn.setDoInput(true);
httpConn.setRequestMethod("POST");
// Prepare RequestData
String jsonParam = "grant_type=client_credentials"
+ "&client_id=" + shp_clientId + "#" + shp_tenantId
+ "&client_secret=" + shp_clientSecret
+ "&resource=00000003-0000-0ff1-ce00-000000000000/www.companyname.sharepoint.com#" + shp_tenantId;
// Send Request
DataOutputStream wr = new DataOutputStream(httpConn.getOutputStream());
wr.writeBytes(jsonParam);
wr.flush();
wr.close();
// Read the response.
InputStreamReader isr = null;
if (httpConn.getResponseCode() == 200) {
isr = new InputStreamReader(httpConn.getInputStream());
} else {
isr = new InputStreamReader(httpConn.getErrorStream());
}
BufferedReader in = new BufferedReader(isr);
String responseString = "";
String outputString = "";
// Write response to a String.
while ((responseString = in.readLine()) != null) {
outputString = outputString + responseString;
}
//Printing the response to the console
System.out.println("Output from the REST" + outputString);
// Extracting accessToken from string, here response (outputString)is a Json format string
if (outputString.indexOf("access_token\":\"") > -1) {
int i1 = outputString.indexOf("access_token\":\"");
String str1 = outputString.substring(i1 + 15);
int i2 = str1.indexOf("\"}");
String str2 = str1.substring(0, i2);
accessToken = str2;
}
//Printing the access token
System.out.println("Access token is " + accessToken);
} catch (Exception e) {
accessToken = "Error: " + e.getMessage();
}
return accessToken;
}
Now that I have the access token in the String variable "accessToken", I used the following code to read the filenames inside the folder "abc" in Documents folder using readFiles() method
public void readFiles(String accessToken) {
try {
//Frame SharePoint siteURL
String siteURL = "https://companyname.sharepoint.com";
//Frame SharePoint URL to retrieve the name of all of the files in a folder
String wsUrl = siteURL + "/_api/web/GetFolderByServerRelativeUrl('Shared%20Documents/abc')/Files";
//Create HttpURLConnection
URL url = new URL(wsUrl);
URLConnection connection = url.openConnection();
HttpURLConnection httpConn = (HttpURLConnection) connection;
//Set Header
httpConn.setRequestMethod("GET");
httpConn.setRequestProperty("Authorization", "Bearer " + accessToken);
httpConn.setRequestProperty("accept", "application/json;odata=verbose"); //To get response in JSON
//httpConn.setRequestProperty("AllowAppOnlyPolicy", "true");
//httpConn.setRequestProperty("Scope", "http://sharepoint/content/sitecollection/web\" Right=\"FullControl");
//Read the response
String httpResponseStr = "";
InputStreamReader isr = null;
System.out.println(httpConn.getResponseCode());
if (httpConn.getResponseCode() == 200) {
isr = new InputStreamReader(httpConn.getInputStream());
} else {
isr = new InputStreamReader(httpConn.getErrorStream());
}
BufferedReader in = new BufferedReader(isr);
String strLine = "";
while ((strLine = in.readLine()) != null) {
httpResponseStr = httpResponseStr + strLine;
}
//Print response
System.out.println(httpResponseStr);
} catch (Exception e) {
System.out.println("Error while reading file: " + e.getMessage());
}
}
}
When I execute the above code I am getting {"error_description":"Exception of type 'Microsoft.IdentityModel.Tokens.AudienceUriValidationFailedException' was thrown."}. Could someone please help me to figure out what I am doing wrong? I have been sitting on this for days and not able to resolve it.
Please help!

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