There are a couple of ways to do this. Some people have converted their 1st Gen RAV4-EV to use a J1772. Here is a YouTube video I found that shows someone installing a "kit" :
https://www.youtube.com/watch?v=eN0W4aXlFtA
I don't any thing more than what is shown in the video. I don't know where you can get the kit or if it is even available. Let us know if you find out anything more about it.
Another way is to take your charger and add a 14-50 plug on it (if it hasn't been done already). That enables you to plug the charger in at a RV park that has "50 amp service" (14-50 outlet). Then you can get an adapter for J1772 to 14-50. You plug the J1772 EVSE into one side and your charger into the other. Here is one version I found online:
http://modularevpower.com/J1772_adapters.htm
Also, here is a good site that has a bunch of modifications you can do to your 1st Gen RAV: evnut.com
I have both 1st and 2nd Gen RAV's and like them both. Good luck!
John