The siblings [Tracy], [Dorothy], and [Robert] wanted to go camping. [Robert] asked his father [Harold] if he would drive them to the national park so they could camp out. [Dorothy] was so glad to travel with her son, [Jeffrey]. He made the trip enjoyable.
('Jeffrey', 'Harold')
[Dorothy] was so glad to travel with her son, [Jeffrey]. He made the trip enjoyable. The siblings [Tracy], [Dorothy], and [Robert] wanted to go camping. [Robert] asked his father [Harold] if he would drive them to the national park so they could camp out.
[{('Jeffrey', 'grandfather', 'Harold'): [('Jeffrey', 'mother', 'Dorothy'), ('Dorothy', 'father', 'Harold')]}, {('Dorothy', 'father', 'Harold'): [('Dorothy', 'sister', 'Tracy'), ('Tracy', 'father', 'Harold')]}, {('Tracy', 'father', 'Harold'): [('Tracy', 'brother', 'Robert'), ('Robert', 'father', 'Harold')]}]
['mother', 'sister', 'brother', 'father']