re = /(?<=\))(?!\()[^()]+|\((?!\()[^)]+\)/m
str = '((Gripper|Open==true OR RIT|Turning==false) AND Robot|PosX >=3 OR (Test|Close==false OR (Gripper|Open==false AND RIT|Turning==false)))'
# Print the match result
str.scan(re) do |match|
puts match.to_s
end
Please keep in mind that these code samples are automatically generated and are not guaranteed to work. If you find any syntax errors, feel free to submit a bug report. For a full regex reference for Ruby, please visit: http://ruby-doc.org/core-2.2.0/Regexp.html