[Harold] took his daughter [Tracy] and son [Robert] to the beach. [Tracy]'s brother [Louis] does n't like the beach and stayed home. [Jennifer] asked her father [Louis] if she could spend the night at her friend's house.
('Jennifer', 'Robert')
[Jennifer] asked her father [Louis] if she could spend the night at her friend's house. [Harold] took his daughter [Tracy] and son [Robert] to the beach. [Tracy]'s brother [Louis] does n't like the beach and stayed home.
[{('Jennifer', 'uncle', 'Robert'): [('Jennifer', 'father', 'Louis'), ('Louis', 'brother', 'Robert')]}, {('Louis', 'brother', 'Robert'): [('Louis', 'father', 'Harold'), ('Harold', 'son', 'Robert')]}, {('Harold', 'son', 'Robert'): [('Harold', 'daughter', 'Tracy'), ('Tracy', 'brother', 'Robert')]}]
['father', 'father', 'daughter', 'brother']