i made a little Musescore 3.x plugin to export scores into a sonic pi script.
If you want to test it, it can be found here: GitHub - synchronisator/musescore-sonic-pi-export: A Musescore 3.x Plugin to export a score to Sonic Pi Code
It is really rudimentary.
If you find bugs or if you have more ideas please let me know.
This plugin is exactly what i needed. so if you try to do more or complex things maybe this: Data import/export Sonic Pi MuseScore 2 is more what you are searching for, but i never tested it