How to Create a “Partial” Hierarchical Tree for Navigation

I’m new to developing on the wordpress platform. I’m sure what I’m about to ask has been done before, but I just can’t seem to find the tutorials for it.

I want to create a partial hierarchical tree that expands and collapses depending on which page you are on. For example, if I’m on the “Battery” page of an inventory site, the navigation should be:

Home
– Electronics
– – Computers
– – TVs
– – Miscellaneous
– – – [ Batteries ]>selected
– – – Power Cords
– Furniture
– Lighting

If I am on the “Love Seat” page, then the hierarchy should be

Home
– Electronics
– Furniture
– – Sofas
– – – Full Sets
– – – [ Love Seats ] > selected
– – Beds
– – Dining Room
– Lighting

So as you can see, the tree only shows the selected page, it’s siblings, it’s parent and parent siblings, grand parent and grand parent siblings etc….

How do I achieve this?

thanks