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first need to install extension pack https://www.virtualbox.org/wiki/Download_Old_Builds_6_1

VBoxManage controlvm
# list vms 
VBoxManage list vms
# show detail
vboxmanage showvminfo "my-ubuntu" 

# power off
VBoxManage controlvm my-ubuntu poweroff

# start headless
VBoxManage startvm my-ubuntu --type headless

# set auto restart 
# setup auto start first
# if you see error VERR_ACCESS_DENIED, tun this
sudo touch /etc/vbox/${USER}.start
sudo chgrp vboxusers /etc/vbo
sudo chmod 1775 /etc/vbox
sudo chmod 777 /etc/vbox/${USER}.start
VBoxManage modifyvm <uuid|vmname> --autostart-enabled on

To make vboxautostart-service.service work, you need to disable SELinux

sudo setenforce 0
vim /etc/selinux/config
# change to SELINUX=permissive