In order to load browser bookmarks from the command-line, I use this shell script:

  #!/bin/bash --
  f0() {
    echo 'select moz_bookmarks.title || '"'"' = '"'"' || url from moz_places, moz_bookmarks on moz_places.id = moz_bookmarks.fk where parent = 2;' | sqlite3 /home/user/.mozilla/firefox/twht79zd.default/places.sqlite
  }
  f1() {
    firefox `echo 'select url from moz_places, moz_bookmarks on moz_places.id = moz_bookmarks.fk where moz_bookmarks.title = '"'$1'"';' | sqlite3 /home/user/.mozilla/firefox/twht79zd.default/places.sqlite`
  }
  f$# $1

You will need to modify it for your use, such as by changing the filenames. I also made another shell script to load Wikipedia.

However, is also my opinion making many thing which do not need a web browser and can just be the command-line programs.