The UDLP list and the Approved USB Devices (or equivalent group) are both white list groups. It's easiest to think of it as a two gate or man trap style setup. The device MUST be in the UDLP white list otherwise it is blocked. If it is in the UDLP white list and not in the Approved USB Devices group then it is blocked. If it is in both lists then it is allowed to attach.
If the USB information from the smart cards is similar enough you may be able to put a partial string with wild cards, otherwise you will want to explicitly identify the devices in the list.
If you had a screenshot of your rule as it stands now I may be able to provide suggestions otherwise if you engage Support directly you can get someone on the line and they may be able to help you in relatively short time.
For additional information on UDLP, you can review this KB article:
Configure the USB Defender Local Policy Connector - SolarWinds Worldwide, LLC. Help and Support