Robotic Arm Motion Planning & Vision

I need assistance with a UNITY project involving a robotic arm (6DOF) in a custom scene. The project consists of two main tasks:

1. Use computer vision to map basic obstacles in the scene. I only require a basic level of detail and accuracy for this task.
2. Implement a feasible motion planning algorithm from OMPL to compute a valid, collision-free trajectory. The goal is to move from an arbitrary starting point to perform a pick-and-place task (e.g., picking up a cube hidden behind a wall).

In addition, I need a trajectory generator that can adjust the robot's execution time based on the collision-free trajectory received from the planner. The motion planning should be done partially or entirely in Cartesian Space.

Ideal skills and experience for this job include:
- Proficiency in computer vision techniques and tools
- Extensive experience with OMPL motion planning algorithms
- Familiarity with 6DOF robotic arms
- Ability to create a trajectory generator
- Understanding of Cartesian Space motion planning.

Please note, the focus of this project is primarily on the robot arm's movement, with the robot located on top of a plane in a custom scene.