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Prepare a grill for medium-high heat cooking. Place mustard seeds in a small heavy skillet and cook, shaking skillet frequently, until seeds are toasted and fragrant, about 3 minutes; you can do this on the grill grate or on the stove top over medium-high heat. Cool the seeds slightly, then pulse them in a spice grinder until crushed. Transfer to a large bowl and stir in tamarind, cilantro, 1 tablespoon of the oil and 1/4 teaspoon of the salt. Set aside.
In another bowl, toss shrimp with remaining 1 tablespoon oil and 1/4 teaspoon salt. Thread shrimp on 6 (12-inch) metal skewers or place them in a grill basket. Grill, turning once or twice, until shrimp are just cooked through, 4 to 5 minutes total. Add to the bowl with mustard seed sauce and toss to coat. Serve hot.