pyparsing parse nested expression with multiple opener and closer

Question

Basically I want to parse the string with nested brackets/parantheses.

opening = oneOf("( { [")
closing = oneOf(") } ]")
scanner = originalTextFor(nestedExpr(opening, closing))

data = 'a b c [(xx), (yyy) zz)'

However, firstly, it gives me

ValueError                                Traceback (most recent call last)
<ipython-input-106-f6f023bf4229> in <module>
      1 opening = oneOf("( { [")
      2 closing = oneOf(") } ]")
----> 3 scanner = originalTextFor(nestedExpr(opening, closing))

/anaconda3/envs/myenv/lib/python3.6/site-packages/pyparsing.py in nestedExpr(opener, closer, content, ignoreExpr)
   6201                                        ).setParseAction(lambda t: t[0].strip()))
   6202         else:
-> 6203             raise ValueError("opening and closing arguments must be strings if no content expression is given")
   6204     ret = Forward()
   6205     if ignoreExpr is not None:

ValueError: opening and closing arguments must be strings if no content expression is given

Secondly, I am trying to get the nested structure(list) as output like this:

[['xx'], ',', ['yyy'], 'zz']

But I get a whole string instead of a nested structure.