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Don't believe so. It was originally designed as a survival rifle:
https://www.ammoland.com/2016/04/ar-15-rifle-historical-time-line/#axzz5D7uJ8SuL
This article seems to imply that the AR-15 was based on the selective fire AR-10, and became the M16. The M16 is also selective fire.
https://en.wikipedia.org/wiki/Eugene_Stoner
As does this one:
"The ArmaLite AR-15 was a select-fire, air-cooled, gas-operated, magazine-fed assault rifle manufactured in the United States between 1959 and 1964. Designed by American gun manufacturer ArmaLite in 1956, it was based on its AR-10 rifle. The ArmaLite AR-15 was designed to be a lightweight assault rifle and to fire a new high-velocity, lightweight, small-caliber cartridge to allow the infantrymen to carry more ammunition."
https://en.wikipedia.org/wiki/ArmaLite_AR-15