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The commas must be exchanged for line-breaks as such:

rosservice call /mynamespace/addTask \
'name: "mytask"
type: "TaskPoP"
behaviour: ["TaskBehFO", "10"]
priority: 1
visibility: 1
parameters: ["gripper_r_base", "0", "0", "0.1", "gripper_l_base", "1", "0", "0", "0.2"]'