[Robert] and his brother [Pedro] liked to eat pizza but [Pedro]'s sister [Beverly] liked to eat tacos. [Nettie] was watching TV with her grandfather [Harold]. [Nettie] and her mother [Beverly] went to volunteer at the homeless shelter last weekend.
('Robert', 'Harold')
[Robert] and his brother [Pedro] liked to eat pizza but [Pedro]'s sister [Beverly] liked to eat tacos. [Nettie] and her mother [Beverly] went to volunteer at the homeless shelter last weekend. [Nettie] was watching TV with her grandfather [Harold].
[{('Robert', 'father', 'Harold'): [('Robert', 'sister', 'Beverly'), ('Beverly', 'father', 'Harold')]}, {('Robert', 'sister', 'Beverly'): [('Robert', 'brother', 'Pedro'), ('Pedro', 'sister', 'Beverly')]}, {('Beverly', 'father', 'Harold'): [('Beverly', 'daughter', 'Nettie'), ('Nettie', 'grandfather', 'Harold')]}]
['brother', 'sister', 'daughter', 'grandfather']