Oddly enough ggplot2 has no support for a stacked and grouped (position="dodge") bar plot. The seaborn python package, although excellent, also does not provide an alternative. However, I knew it was surely possible to make such a plot in regular matplotlib. Matplotlib, although sometimes clunky, gives you enough flexibility to precisely place plotting elements which is needed for a stacked and grouped bar plot.
Below is a working example of making a stacked and grouped bar plot.
import seaborn as sns
import matplotlib.pyplot as plt
import numpy as np