[WooCommerce] Floating expandable menu – For products categories

Hello!

I want to customize or to create if it’s posible a floating expandable on click menu for my categories of products (Woocommerce).

To have an idea about, you can see the left menu on this page: https://demo.explora.com.uy/?product=lumen#munich .

This expandable menu have to be available in the left side in all the pages of the website, even on the products list that should look like this: https://s15.postimg.org/d3nyacgcr/screencapture_1437816093339.png .

For the moment I use WordPress v4.2.3 and Woocommerce v2.3.13.

Is there a plugin for such of thing or a something that can help me?

Thank you in advance!