Control accurate velocity and angular velocity

Hello,

I have a script which calculate the velocity and angular of a gameobject. Then this is what I wrote:

 transform.Translate(velocity * Time.deltaTime);
 transform.Rotate(angularVelocity * Time.deltaTime);
 // velocity and angularVelocity as Vector3

But now, I want to include the physics, so I added a rigidbody. Of course, the interactions with the other gameobject are ugly since I directly control the transform of the gameobject. Then I modified the script:

 GetComponent<Rigidbody>().velocity = velocity;
 GetComponent<Rigidbody>().angularVelocity= angularVelocity;

Now, the collisions are well done but the velocity and angular velocity of the rigidbody don't fit with my variables.

What should I do ?

Thanks in advance.