This is written in infinitive form, like Tarzan language.
"You (to) come here to (take a) walk."
to (take a) walk - meaning together
Maybe we can edit it to be acceptable according to our rules:
"Dođi ovde da šetamo."
Bridge:
"Come here to (take a) walk." (An invitation for a walk. )
I see.
(FYI)I'd say the translation is correct and it won't change if you edit the source.
But, I'll wait for Lili's answer and then will finalize it.
Thank you very much!