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This is more a Python problem than anything else, but:

self.msg = MultiDOFJointTrajectory()
[..]
self.msg.points(i) = p

From the documentation on MultiDOFJointTrajectory (here) we see that points is an unbounded list of trajectory_msgs/MultiDOFJointTrajectoryPoint instances.

Those are lists in Python as well, so you'll need to use the regular ways to interact with list types in Python, such as [] and append(..), insert(..), etc.

In this case you'll probably want to use append(..):

self.msg.points.append(p)