[Lena] had to take her sons [Chris] and [Charles] to ball practice after school and then she picked her daughter [Pamela] up and they went grocery shopping.
('Pamela', 'Charles')
[Lena] had to take her sons [Chris] and [Charles] to ball practice after school and then she picked her daughter [Pamela] up and they went grocery shopping.
[{('Pamela', 'brother', 'Charles'): [('Pamela', 'mother', 'Lena'), ('Lena', 'son', 'Charles')]}, {('Lena', 'son', 'Charles'): [('Lena', 'son', 'Chris'), ('Chris', 'brother', 'Charles')]}]
['mother', 'son', 'brother']