Yes. You can do this with pymol easily.First open both
PDB files in PYMOL. Now go to mounse menu option and
click on 3 Button editing mode. Next step double click
on any atom of the PDB file which you want to rotate
or translate wrt first. Press shift and use left mouse
button  to rotate or press shift and use middle mouse
button to translate(for three button mouse). 
best, surendra

> 
> --__--__--
> 
> Message: 2
> Date: Tue, 26 Jul 2005 08:32:23 -0700
> From: "S. Frank Yan" <s...@gnf.org>
> To: <pymol-users@lists.sourceforge.net>
> Subject: [PyMOL] Manually move one molecule relative
> to another
> 
> Hi all,
> 
> I was wondering if there's a way to manually move a
> molecule relative to
> other molecules (such as in the case of manual
> docking) using the mouse.
> I searched the previous posts and found that
> MovF/RotF are the way to do
> that.  But, when using these mouse functions to move
> the molecule, one
> atom of the molecule moves erratically and the
> molecule is then
> distorted.  It appears to be a bug.
> 
> Thanks a lot,
> Frank
> 
>

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