To only display the Primary Sidebar for certain menu options, you can change this:

sidebar.php

...
    <?php dynamic_sidebar('sidebar-primary'); ?>
...

…into this:

...
   <?php if (is_category('mycategory')) { ?>
        <?php dynamic_sidebar('sidebar-primary'); ?>
    <? } ?>
...

What this does is as follows: if you have a menu option that shows all posts in category “mycategory”, the Primary Sidebar will be displayed.  For all other menu options, the Primary Sidebar will not be displayed.