[Python] How to access documentation of libraries like numpy, scipy etc. via pydoc offline on...

Everytime, I want to access the documentation of libraries that I need for my project, I have to go to their website. Python has the excellent utility called pydoc, but I can only access the documentation of the python standard library functions in pydoc. How do I store/generate/get the documentation for any python library locally and access it via pydoc?

Note: I am not talking about generating the documentation for my own project using pydoc, but accessing the documentation of other projects via the pydoc command as such

pydoc os
pydoc str
pydoc re
pydoc re.search
pydoc re.match


Essentially I want to be able to do

pydoc numpy.pi
pydoc numpy.linspace

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