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General Information:
In 2:5 Isaiah speaks to the people of Judah, and in 2:6 he speaks to Yahweh. Both times he speaks in the form of a poem. (See: rc://en/ta/man/translate/figs-parallelism)
House of Jacob
"You descendants of Jacob." The word "house" is a metonym for the people who live in the house, the family. Here "Jacob" represents the nation of Judah, but it would be best to use "Jacob" here. (See: rc://en/ta/man/translate/figs-metonymy)
come
a gentle encouragement to do what the speaker is about to tell the hearer to do
let us walk in the light of Yahweh
Isaiah speaks of people learning and then doing what Yahweh wants them to do as if they were walking at night with a lamp that Yahweh has provided so they can see the path. Alternate translation: "let us learn how Yahweh wants us to live and then live that way" (See: rc://en/ta/man/translate/figs-metaphor)