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msg.positions is a list of brics_actuator.msg.JointValue messages. Thus, you should fill your message accordingly:

from brics_actuator.msg import JointValue

msg.positions = [brics_actuator.msg.JointValue()]
msg.positions[0].joint_uri = "arm_joint_1"
msg.positions[0].unit = "rad"
msg.positions[0].value = 2

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