The speaker is wrestling with the gap between wanting something and being able to picture or understand it. Desire is clear and strong, but the idea behind it stays slippery. To capture that frustration, the poem compares it to being born blind and handed an audio description of something meant to be seen: you get words about the thing, never the thing itself.
The tone turns sharper in the middle, where the idea is described as a "furious rebellion against simplicity," full of confusion and "infested potential." Nothing settles into a neat answer.
The ending shifts the mood. The image of conjoined twins, painfully born, suggests that desire and idea are bound together even when they clash. Like the twins, they want "to love & be loved," and they are "beautiful & ugly." The final line, "just like us," brings it back to the reader. The poem feels restless and aching at first, then oddly tender, as if accepting the mess is part of being human.