problem to load second picker in insert mode

local function bar(opts)
  opts = opts or {}
  pickers.new(opts, {
    prompt_title = "bar",
    finder = finders.new_table {
        results = { ":Telescope grep_string", ":Telescope find_files" , ":Telescope registers"},
    },
    sorter = conf.generic_sorter(opts),
    attach_mappings = function(prompt_bufnr, map)
      actions.select_default:replace(function()
        actions.close(prompt_bufnr)
        local selection = action_state.get_selected_entry()
        print(vim.inspect(selection.value))
        vim.api.nvim_exec(selection.value, true)
      end)
      return true
    end,
  }):find()
end

local function foo(opts)
  opts = opts or {}
  pickers.new(opts, {
    prompt_title = "foo",
    finder = finders.new_table {
        results = { "hi", "bye" , "tye"},
    },
    sorter = conf.generic_sorter(opts),
    attach_mappings = function(prompt_bufnr, map)
      actions.select_default:replace(function()
        actions.close(prompt_bufnr)
        local selection = action_state.get_selected_entry()
        bar(opts)
      end)
      return true
    end,
  }):find()
end

foo()

In my plugin, I managed to get correct behavior when I wrapped bar in a vim.schedule() call:

-- ...
actions.close(prompt_bufnr) -- I use actions._close(prompt_bufnr, true) -- to keep insert mode
vim.schedule(function()
    bar()
end)