Execute the routine in reverse

Is there any way to run a routine in reverse from the last movement added?
The goal of this is to have the robot retrace its own steps, i.e. in reverse starting from the final position of the routine to end with the first move added to the routine. All this without the need to add each movement manually, perhaps with some existing URCap.

Best regards.

Currently nothing exists on the robot to do this. It is probably possible to write a CAP for it, but I haven’t personally seen one (but I also haven’t looked).