Hi,
You can use the following code for connecting action to a menu.
<odoo>
<record id="test_record" model="ir.actions.server">
<field name="name">Name</field>
<field name="type">ir.actions.server</field>
<field name="model_id" ref="model_test"/>
<field name="binding_model_id" ref="model_test"/>
<field name="sequence">0</field>
<field name="state">code</field>
<field name="code">action = model.action_test()</field>
</record>
<record id="module_name.menu_id" model="ir.ui.menu">
<field name="action" ref="module_name.test_record"/>
</record>
</odoo>
define the action action_test() on the model model_test
Regards
https://www.youtube.com/watch?v=Tdg4YQowXyI