Is there a way to open pdf with zoteor pdf reader from termial

Hi,
zotero is great, I really like its' pdf reader. But in my case I need to open pdf from terminal. Any one know how to achieve this?

I saw this discussion https://forums.zotero.org/discussion/91019/open-pdf-from-command-line but failed, does anyone know the api interface?

BTW, I am using ubunt20.04
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