Controls a servo hand

ServoHand.py

import RPi.GPIO as GPIO
from time import sleep
import os

UP = 110
PINKY = 60 #in the hand i used, they pinky would always extend a lot idk why
DOWN = 0
GPIO.setmode(GPIO.BCM)
GPIO.setup(2, GPIO.OUT)
GPIO.setup(3, GPIO.OUT)
GPIO.setup(4, GPIO.OUT)
GPIO.setup(5, GPIO.OUT)

finger1=GPIO.PWM(2, 50)
finger1.start(0)
finger2=GPIO.PWM(3, 50)
finger2.start(0)
finger3=GPIO.PWM(4, 50)
finger3.start(0)
finger4=GPIO.PWM(5, 50)
finger4.start(0)

def SetAngle(finger, pin, angle):
    duty = angle / 18 + 2
    GPIO.output(pin, True)
    finger.ChangeDutyCycle(duty)
    sleep(0.1)
    GPIO.output(pin, False)
    finger.ChangeDutyCycle(0)

def Pose(first, second, third, fourth):
    SetAngle(finger1, 2, first)
    SetAngle(finger2, 3, second)
    SetAngle(finger3, 4, third)
    SetAngle(finger4, 5, fourth)


def openHand():
    Pose(UP, UP, UP, PINKY)

def pinch():
    Pose(DOWN, UP, UP, PINKY)

def tripod():
    Pose(DOWN, DOWN, UP, PINKY)

def pointer():
    Pose(UP,DOWN,DOWN,DOWN)

def fist():
    Pose(DOWN,DOWN,DOWN,DOWN)
    
i = 'open'
while(True):
    i = input()
    if i == 'open':
        openHand()
    elif i == 'pinch':
        pinch()
    elif i == 'tripod':
        tripod()
    elif i == 'pointer':
        pointer()
    elif i == 'fist':
         fist()
    elif i == 'q':
        finger4.stop()
        finger3.stop()
        finger2.stop()
        finger1.stop()
        GPIO.cleanup()
        os._exit(0) 
    else:
         pass