The following Facebook Graph API v2.6 query:
/{{POST_ID}}/?fields=comments.summary(true)&access_token={{ACCESS_TOKEN}}
will get the comments (with theirs IDs) for the specified Post. Then the query
/{{COMMENT_ID}}/?fields=comments.summary(true)&access_token={{ACCESS_TOKEN}}
will get the replies for the specified Comment.
Is there a way to get both the comments and their replies for given Post with one Graph API query?
This will get u the comment replies of comments.
/{{POST_ID}}/?fields=comments{comments}&access_token={{ACCESS_TOKEN}}
You can get any sub info(from,id) of comment replies by just nesting fields inside comments like this:
/{{POST_ID}}/?fields=comments{comments,from,id}&access_token={{ACCESS_TOKEN}}
You can always try out any kind of query at :
https://developers.facebook.com/tools/explorer/
In case you have any doubt on how to form any query, this tool has a search filter on left in which you enter the fields you require and it will automatilcally generate the query for you.
I believe this is what you're looking for: https://graph.facebook.com/{the_page_id}_{your_post_id}/comments?fields=message,comments{message,comments}&access_token={your_api_key}
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