OData - Get list by an association value

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I’m trying to retrieve all products from a category using an Odata query. The entities go by the following: And I have exposed the odata entities like this:   Then I wonder what is the query I can use to retrie the products of a category using expand somewhat like this: http://localhost:8081/odata/Product/v1/Products?$expand=Categories(?filter=_id eq 27)
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This part of the OData documentation explains how this can be done: https://docs.mendix.com/refguide/odata-query-options/#23-retrieving-associated-objects

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