library(dplyr)
library(purrr)
library(tibble)

map({groups %>% 
      group_split(groups, .keep = F) %>% 
      map(~pull(.x, samples))} , ~df %>% 
      rownames_to_column("id") %>% 
      mutate(, sum_grp = select(., all_of(.x)) %>% 
               rowSums) %>% 
      filter(sum_grp > 0.5)) %>% 
  bind_rows() %>% 
  arrange(id) %>% 
  select(-sum_grp, -id) %>% 
  unique()

#>    sample1 sample2 sample3 sample4 sample5 sample6 sample7
#> 1        1       3       1       2       2       3       1
#> 4        2       2       3       4       4       1       1
#> 7        2       2       3       1       5       6       1
#> 10       1       3       3       1       3       3       1

以下是tidyverse版本：注意，只有一行（例如满足标准的行4）：

library(dplyr)
library(tidyr)

df %>% 
  pivot_longer(everything()) %>% 
  left_join(groups, by = c("name"="samples")) %>% 
  mutate(row =as.integer(gl(n(),ncol(df),n()))) %>% 
  mutate(sum_group = sum(value), .by = c(row, groups)) %>% 
  group_by(row) %>% 
  filter(!all(sum_group <= 0.5)) %>% 
  select(name, value) %>% 
  pivot_wider(names_from = name, values_from = value) 

  row sample1 sample2 sample3 sample4 sample5 sample6 sample7
  <int>   <dbl>   <dbl>   <dbl>   <dbl>   <dbl>   <dbl>   <dbl>
1     1       0     0.3     0.2     0.4     0.1     0.5     0.2
2     2       1     3       1       2       2       3       1  
3     3       2     2       3       4       4       1       1  
4     5       2     2       3       1       5       6       1  
5     6       1     3       3       1       3       3       1