AWS Custom Authorizer for API Gateway

I am having difficulty creating a custom authorizer lambda function for AWS API Gateway to allow Okta federated users access to my application? Does anyone have any guidance and/or template to write a custom authorizer for Okta?

I have an example of a basic implementation posted in this repo. The authorizer emits IAM policy that grants access to HTTP verbs for the request depending on whether the access token has api:read or api:write scope. Unfortunately deploying the authorizer does take more work that it should!

can you please advise on how to generate this id_token or access_token based on Okta application?
I’ve defined Okta application of type “Web” with “OpenID” and I can preview Payload and Header on the “Token Preview” page, however, i don’t find an option to generate jwt id_token.