I asked and was answered at this post about opening a GUI explorer from a command line.
How about the other way around? I mean, is there a way to open a terminal from xdg-open or nautilus?
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If you install nautilus-open-terminal (from Software Center or using
apt-get) you can right click and open a terminal from wherever you right click:
You'll need to either log out or restart nautilus with a
nautilus -q in order for it to take effect after you install it.