Implement signing a .pdf directly from the database to the Docusign platform

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I made all the configurations and the Docusign module works fine with envelope and templates. But my question is: I want to take a .pdf directly from the database (e.g. with a button)  and send it to the Docusign platform to be signed, without sending a link via any email. Is there an example or a way to follow about this?
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I think you are looking for embedded signing: https://developers.docusign.com/docs/esign-rest-api/esign101/concepts/embedding/

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