Did you try
df.groupby('id').head(2)
Output generated:
id value
id
1 0 1 1
1 1 2
2 3 2 1
4 2 2
3 7 3 1
4 8 4 1
(Keep in mind that you might need to order/sort before, depending on your data)
EDIT: As mentioned by the questioner, use
df.groupby('id').head(2).reset_index(drop=True)
to remove the MultiIndex and flatten the results:
id value
0 1 1
1 1 2
2 2 1
3 2 2
4 3 1
5 4 1