It's simple algebra, really.
1=Rρ
R=1/ρ
ρ=1/R
Start with one of the variables. Say, density of some material from the wikipedia, or some radius you'd like the planet to have. Express it as a fraction of Earth density(5.5 g/cm^3) or radius(6700km), and substitute to the equation.
E.g., if you want a planet to be made of some substance with density of 2g/cm^3, then in you'd substitute ρ=2(g/cm^3)/5.5(g/cm^3). The units cancel out, so you end up with R=1/(2/5)=5/2. Which means the radius would need to be 5/2 of Earth's, whic is 5/2*6700km=16750km.
And so on.
Intuitively, the relationship simply means that if you want a planet twice the size(radius) of Earth, it'll need to be half the density to still produce 1g at the surface.