You need to use an ssh jump host to access internal machines at tpo.
If you have a recent enough ssh (>= 2016 or so), then you can use the ProxyJump directive. Else, use ProxyCommand.
ProxyCommand automatically executes the ssh command on the host to jump to the next host and forward all traffic through.
If your local username is different from your tpo username, also set it in your .ssh/config.
Ex: To perform a ssh jump host and access staticiforme.tpo you might add the following to your ~/.ssh/config
With recent ssh versions:
Host *.torproject.org User <username>Host staticiforme.torproject.org ProxyJump perdulce.torproject.org