Você pode estar pensando em xdg-open
:
xdg-open opens a file or URL in the user's preferred application. If a URL is provided the URL will be opened in the user's preferred web browser. If a file is provided the file will be opened in the preferred application for files of that type. xdg-open supports file, ftp, http and https URLs.
O Arch Wiki lista algumas ferramentas alternativas.