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You could use MIDI for this. You can use a Digital Audio Workstation (aka. DAW) or a MIDI sequencer to create and sequence MIDI files. The most popular DAWs aren't necessarily open-source but Ardour is a notable open source option. Do note that it does way more than just MIDI sequencing so just be aware in case you feel overwhelmed.
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.