Add-ons

An add-on is a script running in CoppeliaSim, that can act in a similar way as a plugin: it is automatically loaded at program start-up, and allows CoppeliaSim's functionality to be extended by user-written functionality or functions; it persists across all opened scenes, and is executed constantly, effectively running in the background. Add-ons can run threaded or non-threaded, should be segmented into several system callback functions, and follow a precise execution order in relation with other script types. They share a lot of properties with the sandbox script. Add-ons can be accessed via [Menu bar --> Modules].

Add-ons should be written in a text file located in <CoppeliaSim folder>/addOns/ with following naming convention: simAddOnXXXX.lua (even add-ons containing Python code). Add-ons that do not follow above naming convention can still be loaded and run via command line options.

By default, add-ons will automatically start when CoppeliaSim starts, e.g.:


function sysCall_init()
    print("Executing the initialization section. Starting together with CoppeliaSim")
end

function sysCall_addOnScriptSuspend()
    print("Ending... (triggered by the user)")
    return {cmd='cleanup'} -- end this add-on. The cleanup section will be called
end

function sysCall_cleanup()
    print("Executing the clean-up section")
end

An add-on can also be manually started and stopped from the add-on menu (Lua only), e.g.:


function sysCall_info()
    return {autoStart=false}
end

function sysCall_init()
    print("Executing the initialization section. Start triggered by the user")
end

function sysCall_addOnScriptSuspend()
    print("Ending... (triggered by the user)")
    return {cmd='cleanup'} -- end this add-on.
end

An add-on can also be suspended/resumed from the add-on menu, e.g.:

...

function sysCall_addOnScriptSuspend()
    print("Suspending the add-on... (triggered by the user)")
end

function sysCall_addOnScriptResume()
    print("Resuming the add-on... (triggered by the user)")
end

...

An add-on can also act as a simple function triggered by the user (Lua only), e.g.:


function sysCall_info()
    return {autoStart=false}
end

function sysCall_init()
    print("Executing the initialization section. Start triggered by the user")
    -- execute some functions here, e.g. import something
    return {cmd='cleanup'} -- end this add-on.
end

An add-on can also display a customized name in the Modules' menu (Lua only), e.g.:


function sysCall_info()
    return {menu='Exporters//My exporter'}
end