This is answering some of your question, but there is a lot in there. If you want to interact with your plot to identify points, you can look at ?identify
. Here's an answer to working with the specific rows you're after. If you want to ask about interactive GUIs perhaps post a specific question regarding that.
mat <- matrix(rnorm(160), ncol=2)
km <- kmeans(mat, centers=4)
df <- as.data.frame(cbind(mat, km$cluster))
names(df) <- c("Var1", "Var2", "cluster")
#Get the row of df with highest Var1 and cluster == 2
which(df$Var1 == max(df$Var1[df$cluster==2]))
# 76
#Use this to extract the row
df[which(df$Var1 == max(df$Var1[df$cluster==2])),]
#You can subset you data based on one of the variables
#Get the rows with cluster == 2
df.2 <- df[df$cluster == 2,]