Not sure that I follow your intention...
The end user specifies the command to execute and options to fine-tune this execution.
When you say, "trigger a command (A) conditionally from another command (B)", it sounds to me that your application has some logic that the user may either invoke directly by explicitly invoking command A, or indirectly, by invoking command B, which may invoke command A under the hood. Is my understanding correct?
While there is nothing that prevents you from doing this, picocli also does not offer special support for this.
You will just have to code your commands using public classes and methods so that command B can call the logic in command A.
Does that answer your question?
Kind regards,
Remko