How to Play DLNA from a known server - without using UPnP/SSDP?

[celwin]

Is there a way to directly play a DLNA stream from a known server?

Everything I found so far is always referring to auto discovery using SSDP / UPnP.
This might be comy for a simple network, but there are also local networks that do not allow SSDP to propagate across routers.
Let's assume that SSDP / UPnP is not available in the client network segment, and the DLNA server is reachable and its IP and port numbers are known.

What would the URL look like that needs to be used?

[Rémi Denis-Courmont]

They're just regular HTTP URLs.

[celwin]

so like this for Plex?

http://dlnaserver:32469/video

any ideas how plex does structure/encode the "video" part?