You can't.
I'm assuming you want your TPM to generate a key deterministicly depending on PCR values. The TPM will always use TRNG entropy for key generation (except for the primary keys) (see TPM2 Spec Part 1 - 11.4.9 Key Generation).
What you could do in theory is generating the key outside the TPM and loading it afterwards. I really doubt that this is a good idea, though.
Also: I think basing a secret key on PCR values is not a good idea, either.
Edit: what you might want to actually do is sealing the key. Basically, that is having a security policy associated with that key which prevents using it when your PCRs do not have a known good value.