Calculating mean for each column

Hi Please how do I compute the mean of each column using R of varying length ( R.length)
Thanks in advance
R = [ 0.6164 3.4161 0.9950 3.4117;
3.1654 0.4123 4.2391 1.0198;
0.5745 3.0364 1.3191 3.1129;
2.9883 0.7348 3.8730 0.4123;
0.9381 3.3749 2.0421 3.5014;
2.1817 1.0630 3.0643 0.9487];
when I compute it manually it gives me ( for each column)
1.7441
2.0063
2.5888
2.0678

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