How to use PDF templates in dolibarr

Hi everyone. I am developing modules, and I need to create a PDF for them. I am not well versed on the code, but looking at the code it seems like there is opensource libraries like TCPDF and TCPDI that in turn use FPDI. I think that FDPI is a library that allows you to import existing PDF’s and breaks them down as a template, then you can write to them, and then export your own information onto this PDF template.

Am I correct on this?

If yes, I have been trying get this to work but am not sure how. It seems like there is something to do with SPECIMEN.pdf in your documents/mymodule directory. But that doesn’t seem to work.

Does anyone have some tips or directions on importing your own PDF templates, or if it is even possible to do this?

Thanks