I want a cursor set as | in vim when in insert mode (it's easy in gnome-terminal, but I want to switch to urxvt). I don't find a good way (_ is possible, but I really prefer | ). I'm sure that all is possible in urxvt with a little bit of imagination. 
Is there a way you know (or just an idea) ?
Traditionally DEC didn't provide an I-beam cursor, just a solid block or underbar, via the DECSCUSR sequence (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 extended this enumeration to define
CSI 5 Sp q  == blinking vertical bar
CSI 6 Sp q  == solid vertical bar
It may be possible to suggest urxvt adopt a similar encoding scheme.
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