Networkx has a special function to construct a graph from numpy adjacency matrix:
G = nx.from_numpy_matrix(A)
However, an adjacency matrix must be square:
In graph theory and computer science, an adjacency matrix is a square matrix used to represent a finite graph. The elements of the matrix indicate whether pairs of vertices are adjacent or not in the graph.
So you can't create a graph with your matrix because it is not an adjacency matrix. You should convert it to a 5x5 matrix and then send to nx.from_numpy_matrix function:
import numpy as np
import networkx as nx
A=np.array([[0,0,1,0,0],[1,0,0,0,1],[1,0,0,1,0],[1,0,0,0,0],[1,1,0,0,1]])
G = nx.from_numpy_matrix(A, create_using=nx.DiGraph)
pos=[[0,0],[0,1],[1,0],[1,1],[2,1]]
nx.draw(G,pos)

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