Generate URScript program from ROS

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Hello,

I am working with a UR10 CB3 using the Universal_Robots/Universal_Robots_ROS_Driver package. My question: Is it possible to create a new urp program from a movement which has been executed in ROS, and save and access it on the teaching pendat?

I noticed that there are various services to load, play or stop URScript programs remotely in ROS. I also saw the option to send URScript code snippets. In this scenario, I want to move the robot via ROS and generate a robot program out of it which is sent to Polyscope.

Are there any hints regarding a helpful ROS package, something like an "ROS->URScript" parser or suggestions how to implement an easy example (e.g. start and end point with p2p/"MoveJ" command)? Or would it make more sense to implement a "replay" through the teach pendant with urcap?

Thanks a lot.