I have been reading this paper. https://cnx.org/resources/9c9fe5128dfef772b498990a94c49df16c4f09ee/transformation_derivations.pdf
Here, they have computed for forwarding kinematics to compute cartesian coordinates for a given set of Ramachandran angles. Starting from first amino acid and moving towards the right for a given protein chain which I am able to do as mentioned in this article. Is it possible to do the same by fixing the amino acid move towards left by assigning local frames to each coordinate?