Jubula encapsulates the use of Selenium completely in its own API. That is why you do not have specific actions similar to seleniums. The API is more like a client, so there is not much information about the implementation.
The implementation of Jubula actions for Selenium actions is in bitbucket . There are two projects that support the implementation of Jubula "com.bredexsw.jubula.rc.html.webdriver" and "com.bredexsw.jubula.rc.html.selenium2"
I also found that the webdriver tests with the Jubula API do not currently work, since you cannot set the location of the webdriver eclip.se/524909.
As for your initial question, for now, you should still use Jubula's ITE (UI) to create the ComponentIdentifier, see Exporting an Object Map to ITE