Yup[:D] Easy to do ,too. Take an M16 safety/selector, put it side by side w/your semi only job, and you'll see the rib in the middle of the flat on the M16 piece. Grind that rib down so it's flat, and looks like the AR15 safety, and you'll have a piece that flips all the way round, but will only give semi auto fire in either position.
Grinding off that raised part will do two things for you. First, it will ensure that the rib doesn't hit the closed end at the rear of the trigger, if you have an AR trigger that is closed off all the way into the body. Second, it'll keep the feds happy, since the piece can no longer be considered an M16 part.
Whole job shou;d take about 15 minutes, not counting disassembly and reasssembly.
Did it years ago, after I discarded the ambi unit I'd bought, because after 20+ years of using my left index finger to operate the lever, I wasn't going to go to the trouble of retraining my hand to use the right side lever. [:D]