If I understand your intent correctly, you are trying to estimate how far apart each "group" of vectors is from the centroids of the other groups. If that is the case, it looks like you are missing a normalization factor for the number of vectors in the group. Nevertheless, you can get a good estimate of this distance by simply considering
scipy.spatial.distance.pdist(centroids, 'euclidean')
i.e. the distance from the centroids to each other. This is a first-order approximation. If you use this data for an algorithm it may be good enough, in that it can find the sets of vectors that the most separated.
As the comments indicate the functionality that you were originally looking for is not built into scipy, you'll have to do each summation independently. However, the problem is embarrassingly parallel so it might help to use multiprocessing.