Are there selective opioids that antagonize only certain opioid receptors to relieve pain but without the euphoric high or nausea?

Not yet: Different opioids tend to have different affinities for some receptors and not others. The mu receptor is the classic "pain" receptor but this also does other things, and there's a degree of human variability. There are mu agonists (you don't mean antagonist - that's a blocker) that have less euphoria and less nausea for most people, like tramadol, which is not an opioid per se.