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To grok something means to understand something so well that it has become fully absorbed into oneself.
Science-fiction writer Robert Heinlein coined the term in "Stranger in a Strange Land," the story of a man born during the first manned mission to Mars. Raised by Martians, he returns to Earth with strange powers. In Heinlein's book, grok is a martian word that concerns the intermingling of two realities or intelligence to create a new shared reality.