Rjolver also will solve a rubiks cube in any configuration. You can specify any configuration you want. The faces are labelled as Front, Back, Left, Right, Up and Down. The cube can be rotated about any of its axis, and about an absolute axis. The axis system fixed to the cube faces are labelled as X, Y, Z and the absolute axis system is Xabs, Yabs and Zabs.
Clockwise rotations are positive, for rotating the cube about any axis.
In the default position the cube is facing you with it Front face facing you, the Up face on top and the Right face on the right. At an given instant of time a maximum of three faces can only be seen. Each face can be rotated either clockwise or anticlockwise. The sense is with respect to the face. Also the middlelayer alone can be rotated.