[Karen] and her sister [Jennifer] went out to lunch with [Karen]'s sister [Nicole]. [Nicole] and her mother [Beverly] went dress shopping on Saturday. [Beverly] went car shopping with her brother [Robert].
('Robert', 'Jennifer')
[Beverly] went car shopping with her brother [Robert]. [Nicole] and her mother [Beverly] went dress shopping on Saturday. [Karen] and her sister [Jennifer] went out to lunch with [Karen]'s sister [Nicole].
[{('Robert', 'niece', 'Jennifer'): [('Robert', 'sister', 'Beverly'), ('Beverly', 'daughter', 'Jennifer')]}, {('Beverly', 'daughter', 'Jennifer'): [('Beverly', 'daughter', 'Nicole'), ('Nicole', 'sister', 'Jennifer')]}, {('Nicole', 'sister', 'Jennifer'): [('Nicole', 'sister', 'Karen'), ('Karen', 'sister', 'Jennifer')]}]
['sister', 'daughter', 'sister', 'sister']