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added SIM_singlerigidbody #1762

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bnwalla1
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@sharmeye
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There are a few sections of the README that include information that's already contained in the tutorial. We would like that removed before merging. Specifically the sections Building the Sim, Running the Sim, and Recorded Data contain info that is already covered elsewhere.

@sharmeye
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It appears the "sims" directory located in your SIM_singlerrigidbody directory is redundant and contains a lot of autogenerated files. Can you please delete it?

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