Hey /math/

I've been trying to understand spherical harmonics to grok an ML paper that represented points in euclidean space in a rotation-and-translation-invariant way (https://arxiv.org/pdf/1802.08219.pdf). I found a great textbook on SO(3) (https://www.diva-portal.org/smash/get/diva2:1334832/FULLTEXT01.pdf), but while I can kind of maybe sort of follow what's being done with them in this particular paper I fail to really get an intuition of what spherical harmonics are, and it feels like there's some pretty beautiful insight in there.

Do you have any advice or perspectives on how to intuitively grasp what these harmonics are and mean, beyond just group theory definitions?