Hey WK - try adding this snippet just before startListening or after the last ear.addCommand.
Didn't test it - send no-worky if it no-worky..  also I don't know if its re-entrant.. meaning it should work "once" it might work "more than once"

ear.addCommand("kirk follow me", i01.getName(), "startGestureCopy")

ear.addCommand("kirk stop following me", i01.getName(), "stopGestureCopy")

 

def startGestureCopy():

  i01.copyGesture(True)

  

def stopGestureCopy():

  i01.copyGesture(False)