I think a few topics are conflated here. The part of the code that draws pixels into a canvas (or tells webgl to draw) should
always be called from RAF - there's never a reason to do that more often than the screen refreshes. And since TFA does basically nothing except set canvas pixels, RAF is clearly the thing to use.
OTOH whether you want your animation to advance in real time is a separate issue, regardless of whether the animation is interpolated. If you do want real-time animations, and you're using an interpolated physics engine or similar, there really aren't any good options besides decoupling the interpolation from the rendering. And if you've done that, then it doesn't matter much whether the interpolation is called from RAF or setInterval (personally I use both, so that physics ticks can happen between RAF events if the CPU load is heavy).
But as a footnote, setInterval definitely does not give you a "constant" interval. Besides the normal variance, browsers will throttle the events (e.g. if the document is in a background tab).