pdf.js-hypothes.is
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Permit specifying additional options via URL
It appears that URL-based parameters are parsed from the viewer URL in order to configure the PDF reader, but only the file parameter is currently supported.
Setting other viewer options, like openSidebar, can't currently be specified there.
It would be nice if other viewer options could be provided as URL parameters to viewer.html! (When safe to provide that way, of course.)