How do I script a UDP send and receive in Unity?

Ive been having trouble scripting to get a UDP send and recieve in Unity, I am trying to link a virtual robot arm that i created in Unity to the real robot arm I am working with. I want the virtual arm to move when the real one is moved and vice versa, so far no luck in scripting and I am lost. If anyone knows of a script that could help me that would be amazing, thank you.

My reply is probably too late to be helpful but I found this code here that implements a simple Send/Receive UDP implementation in C# that was super helpful for me. In my case, I needed it to transfer information between different softwares. Hope this helps.