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You can add Sage's R kernel to either Sage's Jupyter notebook or a systemwide Jupyter : follow the installation instructions on The Github site for IRKernel.

Note that you may have to play fast'n loose with some symlinks if you want to install this systemwide (Sage doesn't have the permissions to write on the necessary directories for a systemwide install).

Note also that (starting approx. with Sage 7.6, IIRC), a systemwide Jupyter notebook will have trouble finding the $SAGE_ROOT directory : you may have to define this shell variable...