これは別の非常に手動のソリューションです。軸のサイズを定義でき、パディングはそれに応じて考慮されます(凡例と目盛りを含む)。それが誰かに役立つことを願っています。
例(軸のサイズは同じです!):

コード:
#==================================================
# Plot table
colmap = [(0,0,1) #blue
         ,(1,0,0) #red
         ,(0,1,0) #green
         ,(1,1,0) #yellow
         ,(1,0,1) #magenta
         ,(1,0.5,0.5) #pink
         ,(0.5,0.5,0.5) #gray
         ,(0.5,0,0) #brown
         ,(1,0.5,0) #orange
         ]
import matplotlib.pyplot as plt
import numpy as np
import collections
df = collections.OrderedDict()
df['labels']        = ['GWP100a\n[kgCO2eq]\n\nasedf\nasdf\nadfs','human\n[pts]','ressource\n[pts]'] 
df['all-petroleum long name'] = [3,5,2]
df['all-electric']  = [5.5, 1, 3]
df['HEV']           = [3.5, 2, 1]
df['PHEV']          = [3.5, 2, 1]
numLabels = len(df.values()[0])
numItems = len(df)-1
posX = np.arange(numLabels)+1
width = 1.0/(numItems+1)
fig = plt.figure(figsize=(2,2))
ax = fig.add_subplot(111)
for iiItem in range(1,numItems+1):
  ax.bar(posX+(iiItem-1)*width, df.values()[iiItem], width, color=colmap[iiItem-1], label=df.keys()[iiItem])
ax.set(xticks=posX+width*(0.5*numItems), xticklabels=df['labels'])
#--------------------------------------------------
# Change padding and margins, insert legend
fig.tight_layout() #tight margins
leg = ax.legend(loc='upper left', bbox_to_anchor=(1.02, 1), borderaxespad=0)
plt.draw() #to know size of legend
padLeft   = ax.get_position().x0 * fig.get_size_inches()[0]
padBottom = ax.get_position().y0 * fig.get_size_inches()[1]
padTop    = ( 1 - ax.get_position().y0 - ax.get_position().height ) * fig.get_size_inches()[1]
padRight  = ( 1 - ax.get_position().x0 - ax.get_position().width ) * fig.get_size_inches()[0]
dpi       = fig.get_dpi()
padLegend = ax.get_legend().get_frame().get_width() / dpi 
widthAx = 3 #inches
heightAx = 3 #inches
widthTot = widthAx+padLeft+padRight+padLegend
heightTot = heightAx+padTop+padBottom
# resize ipython window (optional)
posScreenX = 1366/2-10 #pixel
posScreenY = 0 #pixel
canvasPadding = 6 #pixel
canvasBottom = 40 #pixel
ipythonWindowSize = '{0}x{1}+{2}+{3}'.format(int(round(widthTot*dpi))+2*canvasPadding
                                            ,int(round(heightTot*dpi))+2*canvasPadding+canvasBottom
                                            ,posScreenX,posScreenY)
fig.canvas._tkcanvas.master.geometry(ipythonWindowSize) 
plt.draw() #to resize ipython window. Has to be done BEFORE figure resizing!
# set figure size and ax position
fig.set_size_inches(widthTot,heightTot)
ax.set_position([padLeft/widthTot, padBottom/heightTot, widthAx/widthTot, heightAx/heightTot])
plt.draw()
plt.show()
#--------------------------------------------------
#==================================================
               
              
tight_layout()伝説を考慮に入れるために変更されるべきです。