create 2 vectors from 1 in R

I am using base R trying to split the following character string into 2:

some_text | number1 (number2) | number1 (number2) | number1 (number2)

vec1 <- number1 number1 number1

vec2 <- number2 number2 number2

I have been able to remove the "some_text" and the "|" symbol but need help creating the vectors based on pattern matching.