How to write values on bars using mtext?

Grouped Bar Plot
counts <- table(mtcars$vs, mtcars$gear) barplot(counts, main="Car
Distribution by Gears and VS",xlab="Number of Gears",
col=c("darkblue","red"),legend = rownames(counts), beside=TRUE, horiz=TRUE)

mtext(counts ) # But poistion is not at each bar.

How can i put corresponsing values on each bars of  plot?

Regards 




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