autodesk forge – APS: Add properties to Property Set

I am wondering if it is possible to add a property to a property set to a model stored in BIM360/ACC per API.

In my application that is using the viewer API to show a 3D model I would like to add a property to a specific property set to certain elements.

Given an element id, a property set name, a property name, and a value for that property I am looking for an endpoint with which I can set that value to that property of that element.
Preferably, I would like to call several of these requests in a batch.

I tried looking at the API specifications (like model derivative API) but could not find any endpoint that would allow this.