How can I apply rapier.js physics engine (or any other js physics engine...) to OpenJsCAD objects?

I found this site which allows creating composite objects and exporting them into openSCAD format, which then I was able to translate to openJsCAD using ChatGPT, but then I got stuck: I am not able to associate rapier.js to my model.

What I would like to do is to change this robot arm into something I create with above site.

Is this feasible?