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I use the plugin with the following css code:

.advanced-sidebar-menu li {
list-style-type:disc;
}
.advanced-sidebar-menu li.page_item a,
.advanced-sidebar-menu .child-sidebar-menu li.page_item a,
.advanced-sidebar-menu .child-sidebar-menu .grandchild-sidebar-menu li.page_item a,
.advanced-sidebar-menu .child-sidebar-menu .grandchild-sidebar-menu .children li.page_item a {
color:#add8e6; //link color
}
.advanced-sidebar-menu li.current_page_item a,
.advanced-sidebar-menu .child-sidebar-menu li.current_page_item a,
.advanced-sidebar-menu .child-sidebar-menu .grandchild-sidebar-menu li.current_page_item a,
.advanced-sidebar-menu .child-sidebar-menu .grandchild-sidebar-menu .children li.current_page_item a,
.advanced-sidebar-menu li.page_item a:hover,
.advanced-sidebar-menu .child-sidebar-menu li.page_item a:hover,
.advanced-sidebar-menu .child-sidebar-menu .grandchild-sidebar-menu li.page_item a:hover,
.advanced-sidebar-menu .child-sidebar-menu .grandchild-sidebar-menu .children li.page_item a:hover {
color:#fac800; //active and hover color
}

It runs very well as a sidebar-context-menu.

ADVANCED SIDEBAR MENU plugin should be by default in WordPress. It brings an obvious and necessary option which is hard to find.
Author replies quickly and is willing to solve issue
Great job ! Thank you

Thank you so much for this plugin, it does *exactly* what I was looking for! Saves me tons of time and is extremely valuable. Thank you!

I love WordPress but used Joomla because it allow custom menu per category. But this plug-in solved my problem. Now I can show different menu according to categories. Great Job by the Developer!