I am interested in knowing how to convert a pandas dataframe into a NumPy array.

dataframe:

import numpy as np
import pandas as pd

index = [1, 2, 3, 4, 5, 6, 7]
a = [np.nan, np.nan, np.nan, 0.1, 0.1, 0.1, 0.1]
b = [0.2, np.nan, 0.2, 0.2, 0.2, np.nan, np.nan]
c = [np.nan, 0.5, 0.5, np.nan, 0.5, 0.5, np.nan]
df = pd.DataFrame({'A': a, 'B': b, 'C': c}, index=index)
df = df.rename_axis('ID')

gives

label   A    B    C
ID                                 
1   NaN  0.2  NaN
2   NaN  NaN  0.5
3   NaN  0.2  0.5
4   0.1  0.2  NaN
5   0.1  0.2  0.5
6   0.1  NaN  0.5
7   0.1  NaN  NaN

I would like to convert this to a NumPy array, as so:

array([[ nan,  0.2,  nan],
       [ nan,  nan,  0.5],
       [ nan,  0.2,  0.5],
       [ 0.1,  0.2,  nan],
       [ 0.1,  0.2,  0.5],
       [ 0.1,  nan,  0.5],
       [ 0.1,  nan,  nan]])

How can I do this?

As a bonus, is it possible to preserve the dtypes, like this?

array([[ 1, nan,  0.2,  nan],
       [ 2, nan,  nan,  0.5],
       [ 3, nan,  0.2,  0.5],
       [ 4, 0.1,  0.2,  nan],
       [ 5, 0.1,  0.2,  0.5],
       [ 6, 0.1,  nan,  0.5],
       [ 7, 0.1,  nan,  nan]],
     dtype=[('ID', '<i4'), ('A', '<f8'), ('B', '<f8'), ('B', '<f8')])

or similar?