Which device for obstacle detection and scanning a target component?

Hello,

We are training a robotic arm to perform tasks using reinforcement learning. The goal is to avoid obstacles and to insert pins into a target object that contains a number of holes.

Which sensor would be the most suitable for this application: the D455 depth camera or the L515 LiDAR?

The robot arm must be able to insert circular pins into holes of 5 mm diameter so we would like the sensor to have an accuracy below 1 mm when positioned at about 1 m from the target object.

Many thanks