For each Synchonization Configuration Concepts, there is a dedicated page to understand in details how they can be configured and for what :
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Object Matching Condition An Object Matching Condition allows to configure whether an object matches a condition or not, according to the object kind (IDENTITY), type(s) ("employee"), and a matching strategy.
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Object Schema Mapping Definition The Schema Mapping Definition configures both the inbound and outbound sides, i.e. how to map attributes from applications to the IDM (inbound), and vice-versa (outbound). It defines an Attributes Mapping Definition, which configures attribute mappings for both inbound and outbound sides.