[Angelica] and her grandfather [Harold] went to the museum. [Angelica] was bored, so they soon left. [Robert] has a daughter names [Lizzie], she just turned 25. He also has a son, [Lizzie]'s brother [Ronald], he just turned 20. [Angelica] went car shopping with her brother [Ronald].
('Robert', 'Harold')
[Robert] has a daughter names [Lizzie], she just turned 25. He also has a son, [Lizzie]'s brother [Ronald], he just turned 20. [Angelica] went car shopping with her brother [Ronald]. [Angelica] and her grandfather [Harold] went to the museum. [Angelica] was bored, so they soon left.
[{('Robert', 'father', 'Harold'): [('Robert', 'daughter', 'Angelica'), ('Angelica', 'grandfather', 'Harold')]}, {('Robert', 'daughter', 'Angelica'): [('Robert', 'son', 'Ronald'), ('Ronald', 'sister', 'Angelica')]}, {('Robert', 'son', 'Ronald'): [('Robert', 'daughter', 'Lizzie'), ('Lizzie', 'brother', 'Ronald')]}]
['daughter', 'brother', 'sister', 'grandfather']