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the people of his pasture
The word "pasture" is a metonym for the food that animals eat in the pasture, which in turn is a synecdoche for everything that Yahweh provides for his people. Alternate translation: "we are the people whose needs he meets" (See: rc://en/ta/man/translate/figs-metonymy and rc://en/ta/man/translate/figs-synecdoche)
pasture
an area where animals find grass to eat
the sheep of his hand
The word "hand" here refers to how Yahweh protects his people the way a shepherd protects his sheep. Alternate translation: "the people whom he protects like a shepherd protects his sheep" (See: rc://en/ta/man/translate/figs-metaphor)
Today—oh, that you would hear his voice!
"Oh, that you would hear his voice today!" The psalmist purposely interrupts what he is saying.
hear his voice
Here "his voice" represents God speaking or what he says. Alternate translation: "listen to God speak" or "hear what God says" (See: rc://en/ta/man/translate/figs-metonymy)