diff --git a/docs/source/API_SUMMARY.md b/docs/source/API_SUMMARY.md
index 50dbea0..50bb774 100644
--- a/docs/source/API_SUMMARY.md
+++ b/docs/source/API_SUMMARY.md
@@ -103,6 +103,7 @@ The `wait` parameter is another common feature that specifies the call is asynch
 | move_displacement | The dx, dy, and dz | cartesian path |
 | move_to_position | The target x, y, and z, the reference frame, and path planning | |
 | rotate_to_orientation | The target roll, pitch, and yaw, the reference frame, and path planning | |
+| move_and_rotate | The target x, y, z, roll, pitch, and yaw, the reference frame, and path planning | |
 | move_to_pose | Pose, PoseStamped, a 6-list (xyzrpy) or a 7-list (xyzqqqq) | |
 
 The following functions accepts multiple positions or poses in one move command. The path is always cartesian.
diff --git a/docs/source/TUTORIAL_PART1.md b/docs/source/TUTORIAL_PART1.md
index ed21f32..8b00978 100644
--- a/docs/source/TUTORIAL_PART1.md
+++ b/docs/source/TUTORIAL_PART1.md
@@ -177,7 +177,6 @@ arm_commander.move_to_position(x = 0.4, y = 0.2, wait=True)
 arm_commander.reset_state()
 ```
 
-
 ### Move using a displacement
 
 The function `move_displacement()` commands the robot arm to move based on a displacement from the current position. The following source code is from `simple_move_4.py`.  The end-effector will move 10 cm ten times.
@@ -197,6 +196,8 @@ The default values of the three component parameters are the current values.
 
 ### Move to Both Position and Orientation
 
+There are two functions for moving to a both specified position and orientation.  
+
 The function `move_pose()` commands the end-effector to move to a target pose, which can be of type `Pose` or `PoseStamped`. 
 ```python
 pose = Pose()
@@ -225,9 +226,10 @@ xyzrpy = [0.4, 0.0, 0.4, 3.14, 0.0, 0.6]
 arm_commander.move_to_pose(xyzrpy, wait=True)
 arm_commander.reset_state() 
 ```
-
 ![Animation of the Movement](../assets/ArmCommander-SimpleMove5.gif)
 
+However, the function `move_pose()` accepts only fully specified pose. On the other hand, the function `move_and_rotate()` supports partially specified xyzrpy, and the unspecified components are defaulted to the current values.
+
 ### Cartesian Movement
 
 The function `move_position()` supports both cartesian path planning (with collision avoidance) and algorithmic path planning (based on a path planner).