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"Shaka, when the walls fell is a likeness of failure for the Children of Tama. It’s also not a bad alternative title for the “Darmok” episode, for the Federation never really grasps Tamarian communication, despite their declared success in making contact with the race and forging a path to future relations."

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"Temba, His arms open"

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Communication in the episode of Darmok is accomplished through the use of figurative representation. For the aliens, it was not so much a metaphor as Picard thought but their language had no denotative communication which is why it was hard to understand at first. I also believe another factor that made their communication successful was gestures and body language.