On Pygame site, there is a wonderful program called Rubik's Cube Game meets all my needs. Actually, I've downloaded and tested it several months ago, but until today I finally get clear steps to make the program run properly. My modifications are as follows.
- rename Images/*.PNG to Images/*.png
- apt-get install python-opengl
- download gameobjects and install it
- remove *.pyc
- rename *.pyw to *.py
- run ``python Rubik's Cube.py''