Why my system has detail but no body & warm vocal?

You may be shocked at how bright the Rotel sounds. I would start with amplification changes for the largest overall change by far. Ouch, Rotel is sharp.

I own the Rotel 972 and woudn't call it lacking in body. Reviews back this up.. it's weakness lies in it's very warm bass. But that B&W tweeter is way too bright.

An integrated amp is a good starting point however if you want a full bodied sound (with warmth) as you descibe, you have to think big! Lose the Rotel int. and get separates! such as a nice tube preamp and a big powerful SS amp. Maybe invest in big, full range floor standing speakers. I have this type of setup and regardless of what type of music I listen to, it never lacks in body, warmth or musicality. Then tweak the system to "your" liking afterwards.

I also have the 602 s3 speakers and rotel ra-02 amp and 02 cd player. The most important thing is the placement of the speakers. The tweeters are a bit bright. I use some older no-name multi stranded speaker cable for the tweaters. For stands i use my own diy made solid brick stands. This really kicks donkey. And yes there is cement between the bricks.

The other thing that you should consider upgrading is your stock CDP. No stock CDP short of perhaps a Meitner, Accuphase or other equally expensive deck will have a warm, full-bodied sound.