[Robert] and his wife [Marie] are picking up [Robert]'s son [Lizzie] from her first day of school. [Tracy]'s father, [Harold], was running late picking up his daughter, [Marie], from school.
('Tracy', 'Lizzie')
[Tracy]'s father, [Harold], was running late picking up his daughter, [Marie], from school. [Robert] and his wife [Marie] are picking up [Robert]'s son [Lizzie] from her first day of school.
[{('Tracy', 'niece', 'Lizzie'): [('Tracy', 'sister', 'Marie'), ('Marie', 'daughter', 'Lizzie')]}, {('Tracy', 'sister', 'Marie'): [('Tracy', 'father', 'Harold'), ('Harold', 'daughter', 'Marie')]}, {('Marie', 'daughter', 'Lizzie'): [('Marie', 'husband', 'Robert'), ('Robert', 'daughter', 'Lizzie')]}]
['father', 'daughter', 'husband', 'daughter']