How to use the airsim.types.Pose function in airsim

def RedGateSpawner(client, num_gates, noise_amp):
    gate_poses=[]
    for idx in range(num_gates):
        noise = (np.random.random()-0.5)*noise_amp
        pose = Pose(Vector3r(10+idx*9, noise*5.0, 10.0), Quaternionr(0.0, 0.0, 0.707, 0.707))
        client.simSpawnObject("gate_"+str(idx), "RedGate16x16", pose, 1.5)
        gate_poses.append(pose)
    return gate_poses

def rosPose2airsimPose(ros_pose):
    t = Vector3r(ros_pose.position.x, ros_pose.position.y, ros_pose.position.z)
    q = Quaternionr(ros_pose.orientation.x, ros_pose.orientation.y, ros_pose.orientation.z, ros_pose.orientation.w)
    return Pose(t, q)

point.header.stamp = rospy.Time(10)  # set an arbitrary time instance

    t = tf.TransformerROS()
    t.setTransform(m)

    # finally we get the gate coord in world coordinates
    point_converted = t.transformPoint('world_frame', point)
    t_o_g = Vector3r(point_converted.point.x, point_converted.point.y, point_converted.point.z)  # now as a world coord vector

    # create rotation of gate
    # find vector t_b_g in world coordinates
    t_b_g = t_o_g - p_o_b.position
    phi_quad_ref = np.arctan2(t_b_g.y_val, t_b_g.x_val)
    phi_gate = phi_quad_ref + phi_rel
    q = transformations.quaternion_from_euler(phi_gate, 0, 0, axes='rzyx')
    p_o_g = Pose(t_o_g, Quaternionr(q[0], q[1], q[2], q[3]))
    return p_o_g

# takeoff_orientation = airsim.Vector3r(1, 0, 0)
    # client.plot_tf([takeoff_pose], duration=20.0, vehicle_name=drone_name)
    # client.moveOnSplineAsync([airsim.Vector3r(0, 0, -3)], vel_max=15.0, acc_max=5.0, vehicle_name=drone_name, viz_traj=True).join()
    client.moveOnSplineVelConstraintsAsync([takeoff_position], [takeoff_orientation], vel_max=vel_max, acc_max=acc_max, vehicle_name=drone_name, viz_traj=True).join()
    # client.moveOnSplineVelConstraintsAsync([airsim.Vector3r(1, 0, 8)], [airsim.Vector3r(1, 0, 0)], vel_max=vel_max, acc_max=acc_max, vehicle_name=drone_name, viz_traj=True)

    time.sleep(1.0)
    img_res = 64

    # path_weights = '/home/rb/data/model_outputs/reg_6/reg_model_10.ckpt'
    path_weights = '/home/rb/data/model_outputs/cmvae_9/cmvae_model_20.ckpt'
    gate_regressor = gate_regressor.GateRegressor(regressor_type='cmvae', path_weights=path_weights)

    while True:
        img_batch_1, cam_pos, cam_orientation = process_image(client, img_res)
        p_o_b = airsim.types.Pose(cam_pos, cam_orientation)
        gate_pose = gate_regressor.predict_gate_pose(img_batch_1, p_o_b)
        print(gate_pose.position)
        print('Before move spline')
        move_drone(client, gate_pose)
        print('Done move spline')
        time.sleep(1.0)

def randomQuadPose(x_range, y_range, z_range, yaw_range, pitch_range, roll_range):
    x = randomSample(x_range)
    y = randomSample(y_range)
    z = randomSample(z_range)
    yaw = randomSample(yaw_range)
    pitch = randomSample(pitch_range)
    roll = randomSample(roll_range)
    q = transformations.quaternion_from_euler(yaw, pitch, roll, axes='rzyx')
    t_o_b = Vector3r(x,y,z)
    q_o_b = Quaternionr(q[0], q[1], q[2], q[3])
    return Pose(t_o_b, q_o_b), yaw

def MoveCheckeredGates(client):
    gate_names_sorted = sorted(client.simListSceneObjects("Gate.*"))
    # gate_names_sorted_bad is ['Gate0', 'Gate10_21', 'Gate11_23', 'Gate1_3', 'Gate2_5', 'Gate3_7', 'Gate4_9', 'Gate5_11', 'Gate6_13', 'Gate7_15', 'Gate8_17', 'Gate9_19']
    # number after underscore is unreal garbage
    pose_far = Pose(Vector3r(0,0,1), Quaternionr())
    for gate in gate_names_sorted:
        client.simSetObjectPose(gate, pose_far)
        # time.sleep(0.05)

t_o_g = Vector3r(point_converted.point.x, point_converted.point.y, point_converted.point.z)  # now as a world coord vector
    # t_o_g = p_o_b.position + t_b_g

    # create rotation of gate
    # find vector t_b_g in world coordinates
    t_b_g = t_o_g - p_o_b.position
    phi_quad_ref = np.arctan2(t_b_g.y_val, t_b_g.x_val)
    eps = 0  # np.pi/15.0
    phi_rel_range = [-np.pi + eps, 0 - eps]
    phi_rel = randomSample(phi_rel_range)
    phi_gate = phi_quad_ref + phi_rel
    # HACK: to make the red side appear, add 180 to gate pose to be spawned
    # TODO: remove this hack later!!!!!!!!!!!!!!!!!!!!!!!!!!!
    q = transformations.quaternion_from_euler(phi_gate + np.pi, 0, 0, axes='rzyx')
    # q = transformations.quaternion_from_euler(phi_gate, 0, 0, axes='rzyx')
    p_o_g = Pose(t_o_g, Quaternionr(q[0], q[1], q[2], q[3]))
    return p_o_g, r, theta, psi, phi_rel