Publish Float64MultiArray from command line - ROS2

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I can't seem to figure this out:

ros2 topic pub /gripper_controller/commands std_msgs/msg/Float64MultiArray lay [TAB COMPLETE]

Now the message is auto-populated like this. I just change the data field:

ros2 topic pub /gripper_controller/commands std_msgs/msg/Float64MultiArray layout:\
\ \ dim:\ []\
\ \ data_offset:\ 0\
data:\ [0.2]\

^ When I try that, the error is:

yaml.scanner.ScannerError: mapping values are not allowed here in "<unicode string="">", line 1, column 13: layout: dim: [] data_offset: 0data: [0.2]

Similar issues if I use the rqt message publisher.