Libgupnp - Gnome UPnP library 
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Libgupnp is a Gnome wrapper for CyberLink for C UPnP stack. Currently it 
offers only GnomeVFS plugin for browsing UPnP/AV media servers.

The URI method for UPnP/AV file system is "upnpav://". The second 
part of the URI is the friendly name of the UPnP media server. The 
rest of the URI is the internal representation (hierarchy) of the 
specific media server. Here are some example URIs:

upnpav:///Music%Server/Music/Albums/Some%20Album/test.mp3
upnpav:///Other%20Music%20Server/Pictures/All%20Pictures/SamplePic.jpg
