# urlencode.py

_ALWAYS_SAFE = frozenset(b'ABCDEFGHIJKLMNOPQRSTUVWXYZ'
                         b'abcdefghijklmnopqrstuvwxyz'
                         b'0123456789'
                         b'_.-')

_ALWAYS_SAFE_BYTES = bytes(_ALWAYS_SAFE)


def quote(string, safe='/', encoding=None, errors=None):
    """quote('abc def') -> 'abc%20def'

    Each part of a URL, e.g. the path info, the query, etc., has a
    different set of reserved characters that must be quoted.

    RFC 2396 Uniform Resource Identifiers (URI): Generic Syntax lists
    the following reserved characters.

    reserved    = ";" | "/" | "?" | ":" | "@" | "&" | "=" | "+" |
                  "$" | ","

    Each of these characters is reserved in some component of a URL,
    but not necessarily in all of them.

    By default, the quote function is intended for quoting the path
    section of a URL.  Thus, it will not encode '/'.  This character
    is reserved, but in typical usage the quote function is being
    called on a path where the existing slash characters are used as
    reserved characters.

    string and safe may be either str or bytes objects. encoding must
    not be specified if string is a str.

    The optional encoding and errors parameters specify how to deal with
    non-ASCII characters, as accepted by the str.encode method.
    By default, encoding='utf-8' (characters are encoded with UTF-8), and
    errors='strict' (unsupported characters raise a UnicodeEncodeError).
    """
    if isinstance(string, str):
        if not string:
            return string
        if encoding is None:
            encoding = 'utf-8'
        if errors is None:
            errors = 'strict'
        string = string.encode(encoding, errors)
    else:
        if encoding is not None:
            raise TypeError("quote() doesn't support 'encoding' for bytes")
        if errors is not None:
            raise TypeError("quote() doesn't support 'errors' for bytes")
    return quote_from_bytes(string, safe)


def quote_plus(string, safe='', encoding=None, errors=None):
    """Like quote(), but also replace ' ' with '+', as required for quoting
    HTML form values. Plus signs in the original string are escaped unless
    they are included in safe. It also does not have safe default to '/'.
    """
    # Check if ' ' in string, where string may either be a str or bytes.  If
    # there are no spaces, the regular quote will produce the right answer.
    if ((isinstance(string, str) and ' ' not in string) or
        (isinstance(string, bytes) and b' ' not in string)):
        return quote(string, safe, encoding, errors)
    if isinstance(safe, str):
        space = ' '
    else:
        space = b' '
    string = quote(string, safe + space, encoding, errors)
    return string.replace(' ', '+')


def quote_from_bytes(bs, safe='/'):
    """Like quote(), but accepts a bytes object rather than a str, and does
    not perform string-to-bytes encoding.  It always returns an ASCII string.
    quote_from_bytes(b'abc def\x3f') -> 'abc%20def%3f'
    """
    if not isinstance(bs, (bytes, bytearray)):
        raise TypeError("quote_from_bytes() expected bytes")
    if not bs:
        return ''
    if isinstance(safe, str):
        # Normalize 'safe' by converting to bytes and removing non-ASCII chars
        safe = safe.encode('ascii', 'ignore')
    else:
        safe = bytes([c for c in safe if c < 128])
    if not bs.rstrip(_ALWAYS_SAFE_BYTES + safe):
        return bs.decode()
    try:
        quoter = _safe_quoters[safe]
    except KeyError:
        _safe_quoters[safe] = quoter = Quoter(safe).__getitem__
    return ''.join([quoter(char) for char in bs])


def urlencode(query, doseq=False, safe='', encoding=None, errors=None):
    """Encode a dict or sequence of two-element tuples into a URL query string.

    If any values in the query arg are sequences and doseq is true, each
    sequence element is converted to a separate parameter.

    If the query arg is a sequence of two-element tuples, the order of the
    parameters in the output will match the order of parameters in the
    input.

    The components of a query arg may each be either a string or a bytes type.
    When a component is a string, the safe, encoding and error parameters are
    sent to the quote_plus function for encoding.
    """

    if hasattr(query, "items"):
        query = query.items()
    else:
        # It's a bother at times that strings and string-like objects are
        # sequences.
        try:
            # non-sequence items should not work with len()
            # non-empty strings will fail this
            if len(query) and not isinstance(query[0], tuple):
                raise TypeError
            # Zero-length sequences of all types will get here and succeed,
            # but that's a minor nit.  Since the original implementation
            # allowed empty dicts that type of behavior probably should be
            # preserved for consistency
        except TypeError:
#            ty, va, tb = sys.exc_info()
            raise TypeError("not a valid non-string sequence "
                            "or mapping object")#.with_traceback(tb)

    l = []
    if not doseq:
        for k, v in query:
            if isinstance(k, bytes):
                k = quote_plus(k, safe)
            else:
                k = quote_plus(str(k), safe, encoding, errors)

            if isinstance(v, bytes):
                v = quote_plus(v, safe)
            else:
                v = quote_plus(str(v), safe, encoding, errors)
            l.append(k + '=' + v)
    else:
        for k, v in query:
            if isinstance(k, bytes):
                k = quote_plus(k, safe)
            else:
                k = quote_plus(str(k), safe, encoding, errors)

            if isinstance(v, bytes):
                v = quote_plus(v, safe)
                l.append(k + '=' + v)
            elif isinstance(v, str):
                v = quote_plus(v, safe, encoding, errors)
                l.append(k + '=' + v)
            else:
                try:
                    # Is this a sufficient test for sequence-ness?
                    x = len(v)
                except TypeError:
                    # not a sequence
                    v = quote_plus(str(v), safe, encoding, errors)
                    l.append(k + '=' + v)
                else:
                    # loop over the sequence
                    for elt in v:
                        if isinstance(elt, bytes):
                            elt = quote_plus(elt, safe)
                        else:
                            elt = quote_plus(str(elt), safe, encoding, errors)
                        l.append(k + '=' + elt)
    return '&'.join(l)

Then we can finally do a nicer GET with parameters:

import urequests
from urlencode import urlencode

url = 'http://server.tld/path/to'
params = {'key1': 'value1', 'key2': 'value2'}
if params:
        url = url.rstrip('?') + '?' + urlencode(params, doseq=True)
print(url)
response = urequests.get(url)

https://youtu.be/bdyZx2KC54Y