Matrix legend in matplotlib (Python)

I am trying to build data in Matplotlib with the following characteristics:

Data can be divided into 10 different groups. I want to build each group with a unique marker shape.

Each group can again be divided into two types. I want to distinguish between two types on my plot with poems filled with empty markers of the same form. Each group is divided into the same two types.

To make my legend more elegant than just listing all marker types, I wanted it to look something like this:

|------------|Type 1-------| Type 2------| |Group 1 | fil. mark 1 | empty mark 1| |Group 2 | fil. mark 2 | empty mark 2| 

...

Is this possible with Matplotlib?

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