How to import an existing RSA key into YubiHSM?

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I know how to do it in Yubikey, but I have a YubiHSM2. Don't know how to do it.

The following is for Yubikey, not for YubiHSM

$ yubico-piv-tool -a import-key -s 9c -i root.key
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Ok, I got it. Use yubihsm-shell

yubihsm> put asymmetric 0 0 mykey 1 sign-pkcs rsa.pem