Is there a built in mechanism for doing the following common operation?

How would I go about reshaping the following data from this

   ]tst=.(<'id') (<0;0)}(;/20+i.6),((;/100+i.4),.<"0 i.4 5)
+---+--+--+--+--+--+
|id |21|22|23|24|25|
+---+--+--+--+--+--+
|100|0 |1 |2 |3 |4 |
+---+--+--+--+--+--+
|101|5 |6 |7 |8 |9 |
+---+--+--+--+--+--+
|102|10|11|12|13|14|
+---+--+--+--+--+--+
|103|15|16|17|18|19|
+---+--+--+--+--+--+
   
To this?

+---+---+---+
|id |cat|val|
+---+---+---+
|100| 21|  0|
+---+---+---+
|100| 22|  1|
+---+---+---+
|100| 23|  2|
+---+---+---+
|100| 24|  3|
+---+---+---+
|100| 25|  4|
+---+---+---+
|101| 21|  5|
+---+---+---+
|101| 22|  6|
...
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