diff --git a/spot_wrapper/spot_arm.py b/spot_wrapper/spot_arm.py
index ba313a1..fcc816c 100644
--- a/spot_wrapper/spot_arm.py
+++ b/spot_wrapper/spot_arm.py
@@ -539,13 +539,17 @@ def handle_arm_velocity(
                 self._logger.info(msg)
                 return False, msg
             else:
-                end_time = self._robot.time_sync.robot_timestamp_from_local_secs(now_sec() + cmd_duration)
-                arm_velocity_command.end_time.CopyFrom(end_time)
+                end_time = now_sec() + cmd_duration
+                end_time_proto = self._robot.time_sync.robot_timestamp_from_local_secs(end_time)
+                arm_velocity_command.end_time.CopyFrom(end_time_proto)
 
                 robot_command = robot_command_pb2.RobotCommand()
                 robot_command.synchronized_command.arm_command.arm_velocity_command.CopyFrom(arm_velocity_command)
-
-                self._robot_command_client.robot_command(command=robot_command, end_time_secs=now_sec() + cmd_duration)
+                self._robot_command_client.robot_command(
+                    command=robot_command,
+                    end_time_secs=end_time,
+                    timesync_endpoint=self._robot.time_sync.endpoint,
+                )
 
         except Exception as e:
             return (
diff --git a/spot_wrapper/wrapper.py b/spot_wrapper/wrapper.py
index 066bdaf..92d62cc 100644
--- a/spot_wrapper/wrapper.py
+++ b/spot_wrapper/wrapper.py
@@ -1290,6 +1290,7 @@ def velocity_cmd(
         v_x: float,
         v_y: float,
         v_rot: float,
+        timestamp: float | None = None,
         cmd_duration: float = 0.125,
         body_height: float = 0.0,
         use_obstacle_params: bool = False,
@@ -1302,6 +1303,7 @@ def velocity_cmd(
             v_x: Velocity in the X direction in meters
             v_y: Velocity in the Y direction in meters
             v_rot: Angular velocity around the Z axis in radians
+            timestamp: (optional) Time at which the command is sent, in seconds since the epoch.  Default is now.
             cmd_duration: (optional) Time-to-live for the command in seconds.  Default is 125ms (assuming 10Hz command
                           rate).
             body_height: Offset of the body relative to nominal stand height, in metres
@@ -1310,7 +1312,8 @@ def velocity_cmd(
         Returns:
             Tuple of bool success and a string message
         """
-        end_time = now_sec() + cmd_duration
+        start_time = now_sec() if timestamp is None else timestamp
+        end_time = start_time + cmd_duration
         if body_height:
             current_mobility_params = self.get_mobility_params()
             height_adjusted_params = RobotCommandBuilder.mobility_params(