It's pretty straight forward. This is the pin out for the L6-20 (plug and then receptacle). The only thing you need to know is that the blade that has a 90 degree notch in it is the ground. The other two blades of the plug are the hot blades (doesn't matter which is which).
Meanwhile the 5-20 looks like this. The ground is the round pin or hole, the blade holes are the hots (for the purposes of making this adapter).
When I make my own adapters, I like to start with a manufactured molded plug, so I usually buy a pre-made cord and then chop off the receptacle end. So I'd buy something like this:
Amazon.com: Tripp Lite Heavy-Duty Power Cord for PDU and UPS 20A, 12AWG (IEC-320-C19 to NEMA L6-20P) 6-ft.(P040-006): Home Audio & Theater
or
Amazon.com: C2G/Cables To Go 10353 12AWG 250 Volt Power Cord (NEMA L6-20P TO IEC320 C19), Black (3 Feet): Home Audio & Theater
Keep the plug end, cut off the receptacle end. Strip back the outer black insulation. Now figure out which of the 3 wires is the ground wire. It might be a different color that the other two. Regardless, check with an ohm meter between the wire and that 90 degree angled blade on the plug to verify which is ground.
Then buy a good 5-20 cord receptacle like this one:
Leviton 5369-C 20 Amp, 125 Volt, Connector, Industrial Grade, Straight Blade, Grounding, Black-White - Electric Plugs - Amazon.com
Wire the identified ground on the wire to the round ground pin on the 5-20 receptacle. Then wire the other two wires to the other two blades. Doesn't matter which goes to which.
Please attach a label to the adapter (near the receptacle end) which says something like:
TELSA CHARGING ONLY. DO NOT USE FOR ANY OTHER PURPOSE.
To test it, plug it into the L-20 socket. Use your volt-ohm meter, set it to AC volts, and plug your probes into the 5-20 receptacle blades or ground pin. You should read 240V between the two blades, and 120V between the ground and either of the other two blades. Don't be sloppy and let the metal part of the probes touch, or else you'll be testing your breaker!!
One last thing. The UMC and 5-20 adapter is kind of heavy and unwieldy. Think about putting up some sort of bracket to hold the UMC off the floor.
Have fun!