code: def _create_extrinsics(self, batch_size, tx, ty, tz, device, dtype):
      extrinsics = torch.eye(4, device=device, dtype=dtype)
      extrinsics[..., 0, -1] = tx
      extrinsics[..., 1, -1] = ty
      extrinsics[..., 2, -1] = tz
      return extrinsics.expand(batch_size, -1, -1)
  
imports: import math
  import pytest
  import torch
  from torch.autograd import gradcheck
  import kornia
  from kornia.testing import assert_close, tensor_to_gradcheck_var
label_desc: Use image node_id 2 for calling the TestPinholeCamera obj's underlying member method code with example usage: obj._create_extrinsics(batch_size, tx, ty, tz, device, dtype) and returns: extrinsics