Install Matlab with Simulink, Simscape and SimMechanics options (or you can use some other simulation environment with visualization tool). Then form y...5, 0.5, 0.6) and (0.5, 0.5, 0.6) with the tip approaching the rectangle from the top outside perpendicular to the direction of motion and with 45° inclination approach angle wrt. the vertical plane.
...SSH and OpenVPN and it should be possible to connect to the remote server only through openVPN for http. It should be possible to choose hostname at create time or instruction for config files. You will also tell us about software install for openvpn on local Windows 10 & Ubuntu machines & their configuration to achieve successful openvpn connect to