How can I find my CalDav calendar URLs without using iCloud?

I would like to add my iCloud calendars to my company's Outlook calendar.

However, since we are not allowed to install any software on this PC, I can not use "iCloud for PC".

Is there any way to get the CalDav URLs for each of my iCloud calendars manually so I can add them to Outlook ?

I've been looking on forums for help, however most of them seem to refer to checking a file called "info.plist" on /Users/<youruser>/Library/Calendars/... on caldav.icloud.com. This file should contain the proper URL's in the format https://pXX-caldav.icloud.com/1234567890/calendars/XXXXXXXX-YYYY-ZZZZ-AAAA-BBBBB BBBBBBB/ where 123...0 is your userID number (which I've already obtained) and the XXX...BBB refers to the specific calendar.

However I'm unable to find the correct URL to access this file or Apple has disabled traversing of the webserver on a file basis instead of through the web pages.

Can somebody help me out ?