Set Joint to Angle

I'm trying for almost a week now (!) to set an angle to a joint, which should be very basic, working in unity. I went over the documentation as well as the forums, but there just doesn't seem to be a set way to set a joint's angle to a set value. For example HingeJoint.setAngle(180).
Of course setting direction and velocity would also be nice, but figuring out how to set the angle would already be good. Any hints maybe ?