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cmenu takes a list of items from stdin and displays an interactive menu within the terminal.
You could also do this using fzf and get fuzzy-matching for free. For example: cd $(ls -d */ | fzf)
How does this compare to smenu? https://github.com/p-gen/smenu
I made a dmenu and cmenu version of this tool that you can find on my github if you are interested: https://github.com/0xdanelia/wifi