Can’t be done by definition
Many URL schemes reserve certain characters for a special meaning:
their appearance in the scheme-specific part of the URL has a designated semantics. If the character corresponding to an octet is reserved in a scheme, the octet must be encoded. The characters “;”, “/”, “?”, “:”, “@”, “=” and “&” are the characters which may be reserved for special meaning within a scheme. No other characters may be reserved within a scheme.
Usually a URL has the same interpretation when an octet is
represented by a character and when it encoded. However, this is not true for reserved characters: encoding a character reserved for a particular scheme may change the semantics of a URL.
Thus, only alphanumerics, the special characters “$-_.+!*’(),”, and reserved characters used for their reserved purposes may be used unencoded within a URL.
On the other hand, characters that are not required to be encoded (including alphanumerics) may be encoded within the scheme-specific part of a URL, as long as they are not being used for a reserved purpose.