G2 shall be my favorite group! Well, for now. For a while. Or maybe for longer. It's the smallest of the exceptional Lie groups. Found 1893 by Élie Cartan. It was he who suggested to think about it in terms of rolling balls.
en.wikipedia.org/wiki/G2_%28ma

Picture two spheres, one three times larger than the other. Imagine them rolling on another without slipping nor twisting. Rolling surfaces have their own branch of mathematics: contact geometry!

en.wikipedia.org/wiki/Contact_

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Spinors are double covers for rotation groups. Double covering sounds like it would become more complicated. But on the contrary, it really makes things simpler: Take SO(3): the space of rotations in 3-space! Pick an axis of a sphere: a pair of antipodal points. We can then rotate around that axis. The result is a closed 3-space.

en.wikipedia.org/wiki/3D_rotat

It looks like a ball where, if you try to leave through the wall, you reappear on the opposite side, turned upside down! Not mirrored, turned.

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