If you want to do it with a plugin you should set the hook to ajax.
Call it like this:
PHP
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<?php defined('COT_CODE') or die('Wrong URL');
$t = new XTemplate(cot_tplfile('sidepanel', 'plug'));
$t->parse();
$t->out();
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XML/XHTML
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<div id="extruderRight" class="{title:'User Control Panel', url:'index.php?r=sidepanel'}"></div>
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Note the index.php?r=sidepanel
