R's equivalent of Python's np.select(conditions, choices)

I'm trying to create a new column in an R dataframe based on a set of conditions that are mutually exclusive. There is a clever way to achieve this on python using np.select(conditions, choices), instead of np.where (See this solved question). I've been looking for an equivalent on R that allows me to avoid writing a gigantic nested ifelse (which is the equivalent of np.where) without any success.

The amount of conditions that I have can change and I'm implementing a function for this. Therefore, and equivalent could be really helpful. Is there any option to do this? I'm new in R and come from python.

Thank you!

There's also cut(), Convert Numeric to Factor, with or without your own labels:

df <- data.frame(a = 1:10)

df$b <- cut(df$a, 
            breaks = c(-Inf,3,7,Inf), 
            labels = c("lo", "med", "hi"))

df$c <- cut(df$a, 
            breaks = c(-Inf,3,7,Inf))

df
#>     a   b        c
#> 1   1  lo (-Inf,3]
#> 2   2  lo (-Inf,3]
#> 3   3  lo (-Inf,3]
#> 4   4 med    (3,7]
#> 5   5 med    (3,7]
#> 6   6 med    (3,7]
#> 7   7 med    (3,7]
#> 8   8  hi (7, Inf]
#> 9   9  hi (7, Inf]
#> 10 10  hi (7, Inf]