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Universal Data Models provided by connector map its collections to Universal Data Models and back. They are stored in udm.yml file in the connector. Example: 
contacts: # Universal data model
  collectionMappings: # How it maps to data collections in connector
    - key: contacts # Collection it maps to
      fieldsFromCollection: # Mapping from collection fields to UDM (using formulas)
        id:
          $var: $.id
        fullName:
          $concat:
            values:
              - $var: $.firstName
              - $var: $.lastName
            delimiter: ' '
        firstName:
          $var: $.firstName
        lastName:
          $var: $.lastName
        # ... more mappings
      fieldsToCollection: # Mapping from UDM fields to collection fields
        id:
          $var: $.id
        firstName:
          $var: $.firstName
        lastName:
          $var: $.lastName
        # ... more mappings