How to controll a humanoid avatar's joint angles from scripts?

Hi there.

I am working on a project involved of real time human skeleton animation from cameras like Kinect.
Therefore it seems to be a better idea (for me, I am not so experienced in this area) to control the humanoid avatar directly rather than trying to use animator.

Is there a simple way to do this? Saying that I have the target joint positions and local joint angles.

I am using animation rigging to drag the humanoid joints to the location I want them to be, but it is quite a messy way to do so. Hope I can get some suggestion about a more elegant solution.

PS: animation rigging is a truely amazing plugin (for me, at least), do try it.