If I may be allowed to play devil's advocate, the instructions seem to be about as clear as they can possibly be. For example, the quick start guide
Don't forget also that there are a number of working example menus, to help you see how everything fits together. Just right click on a demo page and select View Page Source, and you should be able to easily pick out the various UDM related elements of the page.
Is there any particular part of the manual that you're having problems understanding? Do you prefer pictorial documentation to words? Is the customization documentation a little too cryptic for you? We'd welcome any specific suggestions you might have.