Collapsing rows in a Pandas dataframe if all rows have only one value in their columns

Option 0
Super Simple

pd.concat([pd.Series(df[c].dropna().values, name=c) for c in df], axis=1)

   col1  col2  col3   col4   col5 col6
0  ABC1  15.0  24RA  Large  345.0   US

---

Can we handle more than one value per column?
Sure we can!

df.loc[2, 'col3'] = 'Test'

   col1  col2  col3   col4   col5 col6
0  ABC1  15.0  Test  Large  345.0   US
1   NaN   NaN  24RA    NaN    NaN  NaN

Option 1
Generalized solution using np.where like a surgeon

v = df.values
i, j = np.where(np.isnan(v))

s = pd.Series(v[i, j], df.columns[j])

c = s.groupby(level=0).cumcount()
s.index = [c, s.index]
s.unstack(fill_value="-")  # <-- don't fill to get NaN

   col1  col2  col3   col4 col5 col6
0  ABC1  15.0  24RA  Large  345   US

---

df.loc[2, 'col3'] = 'Test'

v = df.values
i, j = np.where(np.isnan(v))

s = pd.Series(v[i, j], df.columns[j])

c = s.groupby(level=0).cumcount()
s.index = [c, s.index]
s.unstack(fill_value="-")  # <-- don't fill to get NaN

   col1  col2  col3   col4 col5 col6
0  ABC1  15.0  Test  Large  345   US
1     -     -  24RA      -    -    -

---

Option 2
mask to make nulls then stack to get rid of them

Or we could have

# This should work even if `'-'` are NaN
# but you can skip the `.mask(df == '-')`
s = df.mask(df == '-').stack().reset_index(0, drop=True)
c = s.groupby(level=0).cumcount()
s.index = [c, s.index]
s.unstack(fill_value="-")

   col1  col2  col3   col4 col5 col6
0  ABC1  15.0  Test  Large  345   US
1     -     -  24RA      -    -    -