Python converting lists into 2D numpy array

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I have some lists that I want to convert into a 2D numpy array.

list1 = [ 2, 7 , 8 , 5]
list2 = [18 ,29, 44,33]
list3 = [2.3, 4.6, 8.9, 7.7]

The numpy array I want is:

[[  2.   18.    2.3]
 [  7.   29.    4.6]
 [  8.   44.    8.9]
 [  5.   33.    7.7]]

which I can get by typing the individual items from the list directly into the numpy array expression as np.array(([2,18,2.3], [7,29, 4.6], [8,44,8.9], [5,33,7.7]), dtype=float).

But I want to be able to convert the lists into the desired numpy array.

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