Thomas Grill created a flext external for PD and the AudioCubes. It allows you to easily create applications for the AudioCubes, because it is an add on object for pd.
You can directly talk to the AudioCubes using this external and receiving information about the location and orientation of the audiocubes in a network, change the colours of the audiocubes, and many other things.
Flext external was based on the C/C++ static libraries for AudioCubes.
More info here: