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Opening terminal, entering command, hitting enter, works fine. Can we optimize, get rid of that first step: Rather than opening a terminal, can commands be entered directly into a panel, via some single-line terminal widget (on Debian/Mate)?
In the question title you say "Terminal command". In a followup command you say you want GUIs (I assume you don't mean terminal-based apps) and you also say you don't want a terminal. Could you please clarify the confusion, and give a couple of concrete examples? How is the terminal involved, if at all; if it's not then why does it appear in the question title and the tags? For a graphical application (such as e.g. firefox, gimp etc.), the fact that you can type its name in a terminal and then it's launched, does not make it a terminal command, they have nothing to do with terminals.
"A terminal command is anything that can be executed in a terminal, right?" – if so then what is a non-terminal command? What command can not be executed in a terminal?
-eoption to typical terminals, such asxterm -e sh -c 'pwd; read'