test_domain.xml

<?xml version="1.0" encoding="utf-8"?>
<odoo>
    <data>

       <record id="domain_act" model="ir.actions.act_window">
           <field name="name">Domain test</field>
           <field name="type">ir.actions.act_window</field>
           <field name="res_model">test.domain</field>
           <field name="view_mode">form</field>
       </record>


        <record id="domain_form" model="ir.ui.view">
            <field name="name">Domain test</field>
            <field name="model">test.domain</field>
            <field name="arch" type="xml">
                <form string="Domain test">
                    <sheet>
                        <group>
                            <field name="book"/>
                        </group>
                    </sheet>
                </form>
            </field>
        </record>

        <menuitem id="test_menu" name="Test" sequence="0"/>
        <menuitem id="domain_menu" name="Domain test" parent="test_menu" action="domain_act" sequence="0"/>

    </data>
</odoo>