Note it is alpha_i , NOT alpha_i-1 as well as a here in table so first two columns are offset not like in conventional dh table from the textbook. Just mind the indexes.

	i			alpha i		a		d		theta i
	0		[sympy.rad(180), 	0.0, 		0, 		0],
	1		[sympy.rad(90), 		-0.033, 		-0.147, 		self.th1],
        2               [0, 			0.155, 		0, 		self.th2],
        3               [0, 			0.135, 		0, 		self.th3],
        4               [sympy.rad(-90), 	0.1136, 		0, 		self.th4],
        5               [self.th5, 		0.1045, 		0, 		0],
                        [0, 0, 0, 0]   # the last line used for don't remember which sympy reasons


#The mapping of DH to arm thetas and back (in degrees!) is following:

    def dh_thetas_to_arm_thetas(self, dh_vals):
        offsets = [169, -25, -151, 102.5, 0]
        scales = [1, -1, -1, -1, 1]
        return [dh_vals[i]*scales[i]+offsets[i] for i in range(len(dh_vals))]


    def arm_thetas_to_dh_thetas(self, arm_vals):
        offsets = [169, -25, -151, 102.5, 0]
        scales = [1, -1, -1, -1, 1]
        return [(arm_vals[i]-offsets[i])/scales[i] for i in range(len(arm_vals))]


# The control values should be switched to radians then!