Reading and parsing .grc/.grd files in Python

I am trying to read .grc/.grd file and convert the data into dataframe and write to Hive. One of our colleague did this in "R" and I am trying to convert this into Python.

I am using rasterio library to read the file but did not find any API like rasterToPoints to convert into dataframe

Please anyone who can help me to convert this into python