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Urxvt cursor shape set to |

I want the cursor to be set as | in vim when it is in insert mode (this is easy in gnome-terminal, but I want to switch to urxvt). I do not find a good way ( _ is possible, but I really prefer | ). I am sure that everything is possible in urxvt with a little imagination.

Is there a way to find out (or just an idea)?

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Traditionally, DEC did not provide an I-beam cursor, only a solid block or a lower plan, through a sequence of DECSCUSR ( CSI Sp q ):

 CSI 1 Sp q == blinking block CSI 2 Sp q == solid block CSI 3 Sp q == blinking underbar CSI 4 Sp q == solid underbar

Recently in xterm we expanded this enumeration to define

 CSI 5 Sp q == blinking vertical bar CSI 6 Sp q == solid vertical bar

Perhaps urxvt might suggest a similar coding scheme.

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