The key to understanding the definition of CBMP is to realize the difference between when the position is achieved due to directional of travel while the body may or may not also be rotating (this is CBMP) and when a position to some degree similar is achieved not by the direction of travel, but instead as a result of rotating the body into the moving leg (this is not CBMP).
The mention of no body rotation in the definition is only that the body rotation cannot be the immediate cause. There are numerous examples in the same books which use that definition of situations in which CBMP is documented to occur on steps which also have CBM rotation. The key is to understand that the CBMP is a result of the pre-existing direction of travel, while the CBM is an independent action occurring during that step - were the dancers to decide not to use CBM (not to turn) they would still be placing that foot in CBMP.
It's useful to think of CBMP as being a "place" on the floor which you can send your body towards and thus cause your foot to land on, and CBM being a "verb" or action of rotating your body as you take a step. This makes it clear that a given step can independently involve neither, either or both.
