Link to Step 6:
http://www.youtube.com/watch?v=ywae7J4gD9c

This step involves going from the yellow cross on top to a completed yellow solid color on the top face. It requires that you position the cube in SPECIFIC ways (please refer to positioning the cube below) before performing the given algorithm:

R T Ri T R T180 Ri

Positioning the Cube:
a) If you have NO (0)yellow corner piece(s) next to the yellow cross on the top face, you are to rotate the entire cube until there is a yellow corner piece on the UPPER RIGHT CORNER of the LEFT FACE.
b) If you have ONE (1) yellow corner piece next to the yellow cross on the top face, you are to rotate the entire cube until THAT piece on is in the BOTTOM LEFT CORNER OF THE TOP FACE.
c) If you have TWO (2) yellow corner pieces next to the yellow cross on the top face (does not matter which corners), you are to rotate the entire cube until there is a yellow corner piece on the UPPER LEFT CORNER of the FRONT FACE.

d)**IF you have 3 (THREE) corner pieces next to the cross, then YOU MUST HAVE AT ONE POINT EITHER TAKEN THE CUBE APART OR A PIECE(S) POPPED OUT AND YOU ACCIDENTALLY PUT IT BACK INCORRECTLY OR POSSIBLY MOVED STICKERS ON THE CUBE. This is NOT a case that EVER happens when solving a normal or brand new cube, I can guarantee you that. I have solved the cube hundreds if not thousands of times and have never came across that case unless I physically flip the corner myself. You can see all 41 possibilities at http://www.ws.binghamton.edu/fridrich/Mike/orient.html

and you will not see such a case. IF YOU HAVE THIS CASE, then the only thing you can do is to manually fix the 4th piece, which is not matched with the others. AGAIN… the only normal cases are either 0, 1, 2, or 4 corner pieces next to the cross!!

********SO IF YOU HAVE 3 CORNER PIECES next to the YELLOW cross, you must physically POP OUT that corner piece and FLIP it so that YELLOW is on TOP (with the other 3). Otherwise, you will not be able to solve the cube completely.***********

*NOTE*: You will most likely have to perform this algorithm a few times. YOU MUST rotate the cube after EACH TIME you perform the algorithm depending on how many top YELLOW CORNER pieces are next to the CROSS. If you just keep it positioned the same way, it will take more steps to finish the top face OR it will NOT finish the top face at all… So please watch the ENTIRE video and the procedure I go over to position the cube. Thanks!

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