Directly transfer underlined phrases from pdf to org-mode?

I’m learning emacs (on spacemacs) and focusing on orgmode.

Is there a way to transfer what you underline in a pdf (like in skim) directly as text in orgmode. In other words, when you underline a phrase in your pdf it appears directly in your opened orgmode buffer.
I tried the following things:

• org-mac-grab-link you can transfer the underlined pdf section to orgmode. Nevertheless, I would like to have something that does it directly while I’m reading and underlying my pdf.
• I’ve heard about org-noter. However, from what I gather is more for summarizing a pdf, since you can export the skeleton/headings to your buffer.

Any advice would be useful!