Email link to Aras Innovator Items (Documents in particular)

I'd like to be able to add a hyperlink to an MS Outlook email to take someone directly to a document.  For instance, I'd like to send an email to an engineer asking them to look at a particular section of a document, and have a link in the email so they can just click on the link and be taken to the document in Aras Innovator.  There is a post on how to add a ULR (I think they meant URL) to an email, but it doesn't quite seem to work in the way I'm hoping it can.