diff --git a/Cargo.lock b/Cargo.lock
index 09c78a8..605c26f 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1950,7 +1950,7 @@ dependencies = [
 
 [[package]]
 name = "hopper_rust"
-version = "0.4.8"
+version = "0.4.9"
 dependencies = [
  "anyhow",
  "approx 0.5.1",
diff --git a/Cargo.toml b/Cargo.toml
index 6f3eeb3..0f940cc 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -8,7 +8,7 @@ name = "hopper_rust"
 publish = false
 readme = "README.md"
 repository = "https://github.com/dmweis/hopper_rust"
-version = "0.4.8"
+version = "0.4.9"
 
 [package.metadata.deb]
 assets = [
diff --git a/src/openai.rs b/src/openai.rs
index 02ed6bc..1e25fd1 100644
--- a/src/openai.rs
+++ b/src/openai.rs
@@ -14,7 +14,7 @@ use serde::{Deserialize, Serialize};
 use serde_json::json;
 use std::{
     collections::HashMap,
-    sync::{atomic::AtomicU8, Arc},
+    sync::{atomic::AtomicU8, Arc, Mutex},
 };
 use tokio::select;
 use tracing::info;
@@ -101,6 +101,16 @@ pub async fn start_openai_controller(
         Arc::new(FaceDisplayFuncCallback),
     )?;
 
+    let voice_provider_arc = Arc::new(Mutex::new(VoiceProvider::Default));
+
+    chat_gpt_conversation.add_function::<SwitchVoiceFuncArgs>(
+        "switch_voice_provider",
+        "Switch voice provider",
+        Arc::new(SwitchVoiceFuncCallback {
+            voice_provider: voice_provider_arc.clone(),
+        }),
+    )?;
+
     let simple_text_command_subscriber = zenoh_session
         .declare_subscriber(HOPPER_OPENAI_COMMAND_SUBSCRIBER)
         .res()
@@ -144,12 +154,15 @@ pub async fn start_openai_controller(
                         info!("Received new zenoh text command");
                         let text_command_msg = text_command_msg?;
                         let text_command: String = text_command_msg.value.try_into()?;
-                        process_simple_text_command(&text_command, chat_gpt_conversation.clone(), client.clone(), zenoh_session.clone()).await?;
+                        let voice_provider = *voice_provider_arc.lock().unwrap();
+
+                        process_simple_text_command(&text_command, chat_gpt_conversation.clone(), client.clone(), zenoh_session.clone(), voice_provider).await?;
                         }
                     text_command = receiver.recv() => {
                         if let Some(text_command) = text_command {
                             info!("Received new text command");
-                            process_simple_text_command(&text_command, chat_gpt_conversation.clone(), client.clone(), zenoh_session.clone()).await?;
+                            let voice_provider = *voice_provider_arc.lock().unwrap();
+                            process_simple_text_command(&text_command, chat_gpt_conversation.clone(), client.clone(), zenoh_session.clone(), voice_provider).await?;
                         }
                     }
                     wake_word_detection = wake_word_detection_subscriber.recv_async() => {
@@ -182,7 +195,8 @@ pub async fn start_openai_controller(
                         let wake_word_transcript: AudioTranscript = serde_json::from_str(&wake_word_transcript)?;
                         if wake_word_transcript.wake_word.to_lowercase().contains("hopper") {
                             info!("Received new text command");
-                            process_simple_text_command(&wake_word_transcript.transcript, chat_gpt_conversation.clone(), client.clone(), zenoh_session.clone()).await?;
+                            let voice_provider = *voice_provider_arc.lock().unwrap();
+                            process_simple_text_command(&wake_word_transcript.transcript, chat_gpt_conversation.clone(), client.clone(), zenoh_session.clone(), voice_provider).await?;
                         }
                     }
                 }
@@ -205,6 +219,7 @@ async fn process_simple_text_command(
     mut conversation: ChatGptConversation,
     open_ai_client: Client<OpenAIConfig>,
     zenoh_session: Arc<zenoh::Session>,
+    voice_provider: VoiceProvider,
 ) -> anyhow::Result<()> {
     info!("Received hopper command {:?}", text_command);
 
@@ -229,7 +244,7 @@ async fn process_simple_text_command(
                 info!("Assistant response form ChatGPT: {:?}", response);
 
                 tokio::spawn(async move {
-                    if let Err(err) = speak_with_face_animation(&response).await {
+                    if let Err(err) = speak_with_face_animation(&response, voice_provider).await {
                         tracing::error!("Failed to speak with face animation: {}", err);
                     }
                 });
@@ -253,12 +268,24 @@ async fn process_simple_text_command(
     Ok(())
 }
 
-async fn speak_with_face_animation(message: &str) -> anyhow::Result<()> {
-    IocContainer::global_instance()
-        .service::<SpeechService>()?
-        .say_azure_with_style(message, crate::speech::AzureVoiceStyle::Cheerful)
-        // .say_eleven_with_default_voice(message)
-        .await?;
+async fn speak_with_face_animation(
+    message: &str,
+    voice_provider: VoiceProvider,
+) -> anyhow::Result<()> {
+    match voice_provider {
+        VoiceProvider::Default => {
+            IocContainer::global_instance()
+                .service::<SpeechService>()?
+                .say_azure_with_style(message, crate::speech::AzureVoiceStyle::Cheerful)
+                .await?;
+        }
+        VoiceProvider::Expensive => {
+            IocContainer::global_instance()
+                .service::<SpeechService>()?
+                .say_eleven_with_default_voice(message)
+                .await?;
+        }
+    }
 
     IocContainer::global_instance()
         .service::<crate::face::FaceController>()?
@@ -566,6 +593,20 @@ impl AsyncCallback for HopperBodyPoseFuncCallback {
             HopperBodyPose::Sitting => "ground",
         };
 
+        // stop high fives in case we are sitting down or folding
+        match hopper_body_pose_func.body_pose {
+            HopperBodyPose::Folded | HopperBodyPose::Sitting => {
+                IocContainer::global_instance()
+                    .service::<HighFiveServiceController>()?
+                    .set_active(false);
+
+                IocContainer::global_instance()
+                    .service::<LidarServiceController>()?
+                    .set_active(false);
+            }
+            _ => (),
+        }
+
         self.zenoh_session
             .put(STANCE_SUBSCRIBER, message)
             .res()
@@ -707,3 +748,38 @@ impl AsyncCallback for FaceDisplayFuncCallback {
         Ok(result)
     }
 }
+
+#[derive(Debug, Clone, Serialize, Deserialize, JsonSchema)]
+pub struct SwitchVoiceFuncArgs {
+    /// TTS voice provider
+    pub voice_provider: VoiceProvider,
+}
+
+#[derive(Debug, Clone, Copy, Serialize, Deserialize, JsonSchema, Default)]
+#[serde(rename_all = "snake_case")]
+pub enum VoiceProvider {
+    /// default voice provider Microsoft Azure
+    #[default]
+    Default,
+    /// expensive voice provider form Eleven Labs
+    /// Should be used carefully
+    Expensive,
+}
+
+struct SwitchVoiceFuncCallback {
+    voice_provider: Arc<Mutex<VoiceProvider>>,
+}
+
+#[async_trait]
+impl AsyncCallback for SwitchVoiceFuncCallback {
+    async fn call(&self, args: &str) -> anyhow::Result<serde_json::Value> {
+        let switch_voice: SwitchVoiceFuncArgs = serde_json::from_str(args)?;
+
+        let mut voice_provider = self.voice_provider.lock().unwrap();
+
+        *voice_provider = switch_voice.voice_provider;
+
+        let result = json!({});
+        Ok(result)
+    }
+}