There is nothing idiomatic here: -고 chains a clause and 원하다 means "want." What is worth knowing is the grammar 원하다 demands — it takes a noun, so you say 원하는 걸 배우다 "learn what you want" or 원할 때 그만하다 "stop when you want to," and these lines are full of 원하는 것 / 원하는 메뉴 (휴대폰 화면을 보시고 원하는 메뉴를 선택해 주세요). To attach wanting directly to a verb, Korean uses -고 싶다 instead. The lines here run from service announcements to casual talk, so the register does not sit in one place.