import groovy.sql.Sql;
import java.sql.ResultSet;
import java.util.Properties;

sql = Sql.newInstance("jdbc:oracle:thin:@localhost:1521:XE","username", "password", "oracle.jdbc.driver.OracleDriver")
    sql.query("select ID, NAME from A where ID not in (select id from B)") {
   row-> while(row.next()) {
    sql.executeInsert "INSERT INTO A (ID, Name) VALUES ("+$row.ID"+,+" $row.Name+")"
}
}