Connect xArm to Arduino?

I’m learning to use the xArm for a high school class of mine, and noticed some GPIO pins on the back of the control box. I was wondering if I could connect an ultrasonic sensor to it and move the arm when the sensor reaches a certain point. I’m not the best when understanding user manuals, and I want to be careful with the arm, so what would a basic circuit look like, connecting an ultrasonic sensor to the xArm GPIO pins on the back of the control box?

Thanks a ton, Jack

(Just edited it because I realized I didn’t need an Arduino for the sensor)

You can refer to the page 45-47 of the user manual about the connection of the controller IO.
The link of the user manual: