Pilint seems to support this. Take a look at pylint.extensions.docparams .
Summarizing. You activate this pylint control by adding
load-plugins=pylint.extensions.docparams
in the "Wizard" section of your .pylintrc
.
This check verifies that all functions, the method, and the docstrings constructor include documentation
In fact, pydocstyle (formerly pep257) recently added support for the numpy docstring convention. Although this is not ideal, I think it is closest to what you want to achieve, and it is likely to improve in the near future.
pydocstyle --convention=numpy example.py
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