private void initActions() {
        ActionRegistrationService ars =  Lookup.getDefault().lookup(ActionRegistrationService.class);

        try {
            String menuPath = "Menu/Machine/Jog";

            ars.registerAction(getMessage(this.getClass(), "JogService.xPlus") , "Machine", "M-RIGHT" , menuPath, new JogAction(this, 1, 0, 0));
            ars.registerAction(getMessage(this.getClass(), "JogService.xMinus"), "Machine", "M-LEFT"  , menuPath, new JogAction(this,-1, 0, 0));
            ars.registerAction(getMessage(this.getClass(), "JogService.yPlus") , "Machine", "M-UP"    , menuPath, new JogAction(this, 0, 1, 0));
        } catch (IOException ex) {
            Exceptions.printStackTrace(ex);
        }
    }

import com.google.common.base.Joiner;
import java.io.IOException;
import java.util.Arrays;
import javax.swing.Action;
import org.openide.filesystems.FileObject;
import org.openide.filesystems.FileUtil;
import org.openide.util.lookup.ServiceProvider;

/**
 *
 * @author wwinder
 */
@ServiceProvider(service=ActionRegistrationService.class)
public class ActionRegistrationService {
    /**
     * Registers an action with the platform along with optional shortcuts and
     * menu items.
     * @param name Display name of the action.
     * @param category Category in the Keymap tool.
     * @param shortcut Default shortcut, use an empty string or null for none.
     * @param menuPath Menu location starting with "Menu", like "Menu/File"
     * @param action an action object to attach to the action entry.
     * @throws IOException
     */
    public void registerAction(String name, String category, String shortcut, String menuPath, Action action) throws IOException {
        ///////////////////////
        // Add/Update Action //
        ///////////////////////
        String originalFile = "Actions/" + category + "/" + name + ".instance";
        FileObject in = getFolderAt("Actions/" + category);
        FileObject obj = in.getFileObject(name, "instance");
        if (obj == null) {
            obj = in.createData(name, "instance");
        }
        action.putValue(Action.NAME, name);
        obj.setAttribute("instanceCreate", action);
        obj.setAttribute("instanceClass", action.getClass().getName());

        /////////////////////
        // Add/Update Menu //
        /////////////////////
        in = getFolderAt(menuPath);
        obj = in.getFileObject(name, "shadow");
        // Create if missing.
        if (obj == null) {
            obj = in.createData(name, "shadow");
            obj.setAttribute("originalFile", originalFile);
        }

        /////////////////////////
        // Add/Update Shortcut //
        /////////////////////////
        in = getFolderAt("Shortcuts");
        obj = in.getFileObject(shortcut, "shadow");
        if (obj == null) {
            obj = in.createData(shortcut, "shadow");
            obj.setAttribute("originalFile", originalFile);
        }
    }

    private FileObject getFolderAt(String inputPath) throws IOException {
        String parts[] = inputPath.split("/");
        FileObject existing = FileUtil.getConfigFile(inputPath);
        if (existing != null)
            return existing;

        FileObject base = FileUtil.getConfigFile(parts[0]);
        if (base == null) return null;

        for (int i = 1; i < parts.length; i++) {
            String path = Joiner.on('/').join(Arrays.copyOfRange(parts,0,i+1));
            FileObject next = FileUtil.getConfigFile(path);
            if (next == null) {
                next = base.createFolder(parts[i]);
            }
            base = next;
        }

        return FileUtil.getConfigFile(inputPath);
    }
}