how to rostopic pub msg with array members

edit

When i want to publish msg like this:

Header header
  uint32 seq
  time stamp
  string frame_id
Point point
  float64 x
  float64 y
  float64 z

i can use the following cmd:

rostopic pub pt geometry_msgs/PointStamped '{stamp: now, frame_id: base_link}' '[1.0, 2.0, 3.0]'

or rostopic pub pt geometry_msgs/PointStamped '{stamp: now, frame_id: base_link}' '[1.0, 2.0, 3.0]'

what command should i use to publish msgs with array members like:

std_msgs/Header header
string[] joint_names
trajectory_msgs/MultiDOFJointTrajectoryPoint[] points 
       geometry_msgs/Transform[] transforms
       geometry_msgs/Twist[] velocities
       geometry_msgs/Twist[] accelerations
       duration time_from_start