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How can I maximize zathura document viewer from the configuration? I've been looking at different resource files, but most people set the window height and width. I don't know why nobody maximizes it.

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I found it! askubuntu/How do I launch zathura from bash/emacs maximized/fullscreen

--mode fullscreen. It isn't in the man file, for whatever reason.

unix.stackexchange/Start Zathura full-screen / remember window size

There's an undocumented launch option, --mode. The examples given for this were "presentation", and "fullscreen", so just use zathura --mode fullscreen [FILE]. If that gets to be a bother, they don't have a configuration entry for this, for whatever reason, so what I did was add --mode fullscreen to my zathura.desktop file. It's a bit of a bother having to use xdg-open to access all of my PDFs, though.

Also,

You can set height and width to a large value, so that it will cover your entire screen. In my case the following did the trick:

set window-height 3000
set window-width 3000

I also found interesting from bbs.archlinux/Open file without program name:

function o() {
    xdg-open "$@" 2> /dev/null
}

After making zathura the preferred aplication, modifying /usr/share/applications/org.pwmt.zathura.desktop file to include --mode fullscreen in the exec line, and adding that function to the shell configuration, you should be able to open zathura in fullscreen mode with o name.pdf.