diff --git a/src/reachy2_sdk/head.py b/src/reachy2_sdk/head.py
index 7d2ddc94..1011a304 100644
--- a/src/reachy2_sdk/head.py
+++ b/src/reachy2_sdk/head.py
@@ -12,6 +12,7 @@
 from pyquaternion import Quaternion as pyQuat
 from reachy2_sdk_api.goto_pb2 import (
     CartesianGoal,
+    GoToAck,
     GoToId,
     GoToInterpolation,
     GoToRequest,
@@ -229,6 +230,10 @@ def rotate_to(
         response = self._goto_stub.GoToJoints(request)
         return response
 
+    def cancel_goto_by_id(self, goto_id: int) -> GoToAck:
+        response = self._goto_stub.CancelGoTo(goto_id)
+        return response
+
     def orient(self, q: pyQuat, duration: float = 2.0, interpolation_mode: str = "minimum_jerk") -> GoToId:
         """Send neck to the orientation given as a quaternion."""
         request = GoToRequest(