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Some taken from commandlinefu. What all the below commands are doing is basically that the url: is captured from the sessionstore.js file and then just  extract the URL from the line. These are done in various ways using perl, sed and awk:

List last opened tabs in firefox browser

F=”$HOME/.moz*/fire*/*/session*.js” ; grep -Go ‘entries:\[[^]]*’ $F | cut -d[ -f2 | while read A ; do echo $A | sed s/url:/\n/g | tail -1 | cut -d\" -f2; done

extract all urls from firefox sessionstore

sed -e "s/\[{/\n/g" -e "s/}, {/\n/g"  sessionstore.js | grep url | awk -F"," '{ print $1 }'| sed -e "s/url:\"\([^\"]*\)\”/\1/g” -e “/^about:blank/d”

Extract all urls from the last firefox sessionstore.js file used.

grep -oP ‘”url”:”\K[^"]+’ $(ls -t ~/.mozilla/firefox/*/sessionstore.js | sed q)

Extract all urls from last firefox sessionstore used in a portable way.

perl -lne ‘print for /url”:”\K[^"]+/g’ $(ls -t ~/.mozilla/firefox/*/sessionstore.js | sed q)

Extract all urls from the last firefox sessionstore.js file used.

sed -e ’s/{“url”:/\n&/g’ ~/.mozilla/firefox/*/sessionstore.js | cut -d\” -f4

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