ARCore Pose and Aruco estimatePoseSingleMarkers

I have a server function that detects and estimates a pose of aruco's marker from an image.

Using the function estimatePoseSingleMarkers I found the rotation and translation vector. I need to use this value in an Android app with ARCore to create a Pose.

The documentation says that Pose needs two float array (rotation and translation): https://developers.google.com/ar/reference/java/arcore/reference/com/google/ar/core/Pose.

float[] newT = new float[] { t[0], t[1], t[2] };
Quaternion q = Quaternion.axisAngle(new Vector3(r[0], r[1], r[2]), 90);
float[] newR = new float[]{ q.x, q.y, q.z, q.w };
Pose pose = new Pose(newT, newR);

The position of the 3D object placed in this pose is totally random.

What am I doing wrong?

This is a snapshot from server image after estimate and draw axis. The image I receive is rotated of 90°, not sure if it relates to anything.

from ARCore Pose and Aruco estimatePoseSingleMarkers