| Bearded Ben |
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I'm not 100% certain this is exactly what you were looking for, but it's close. It's in the CRB under the Magic chapter:
Conjuration
Each conjuration spell belongs to one of five subschools. Conjurations transport creatures from another plane of existence to your plane (calling); create objects or effects on the spot (creation); heal (healing); bring manifestations of objects, creatures, or forms of energy to you (summoning); or transport creatures or objects over great distances (teleportation). Creatures you conjure usually—but not always—obey your commands.
A creature or object brought into being or transported to your location by a conjuration spell cannot appear inside another creature or object, nor can it appear floating in an empty space. It must arrive in an open location on a surface capable of supporting it.