Do you have IPv4 from ISP and do you want to distribute it as IPv6 in LAN or do you have IPv6 from ISP and the idea is to change it into IPv4 for LAN ?
Isn't possible to do.
The router need assign an IPv6 prefix from ISP.
Also, ROS do not support NAT64 and NAT66 yet. Supposedly will be supported in the ROS 7.