If you don't specify the dtype param and pass skipinitialspace=True then it will just work:
In [4]:
t="""ID_0,ID_1,ID_2
a,002,c
b,004,d
c,   ,e
n,003,g"""
pd.read_csv(io.StringIO(t), skipinitialspace=True)
Out[4]:
  ID_0  ID_1 ID_2
0    a   2.0    c
1    b   4.0    d
2    c   NaN    e
3    n   3.0    g
So in your case:
pd.read_csv("file.csv", skipinitialspace=True)
will just work
You can see that the dtypes are as expected:
In [5]:
pd.read_csv(io.StringIO(t), skipinitialspace=True).info()
<class 'pandas.core.frame.DataFrame'>
RangeIndex: 4 entries, 0 to 3
Data columns (total 3 columns):
ID_0    4 non-null object
ID_1    3 non-null float64
ID_2    4 non-null object
dtypes: float64(1), object(2)
memory usage: 176.0+ bytes