My xterm configuration, including a script to grab URL's and launch them using dmenu.

Clone to ~/.config/xterm:

git clone https://github.com/xantoz/xtermrc $HOME/.config/xterm

Make sure ~/.Xresources exists and gets loaded at start using any applicable method (your distro might already do this automatically if the file exists).

In your ~/.Xresources file #define commands you would want to launch using the URL grabber, and #include ~/.config/xterm/Xresources. The URL grabber will replace instances of %URL% with the selected URL. E.g:

#define XTERM_URL_COMMANDS           \
      "webmacs '%URL%'"              \
      "firefox '%URL%'"              \
      "mpv '%URL%'"                  \
      "echo -n '%URL%' | xsel -b"    \
      "xterm -e \\\"youtube-dl -o '/tmp/%(title)s.%(ext)s' '%URL%'\\\""
#include "~/.config/xterm/Xresources"

The URL grabber is launched by pressing Alt+U. This triggers the printEverything(noFormFeed) xterm command, which will pipe the terminal contents to xterm-find-urls-dmenu.sh.