I think one issue with discipline is that there's a value judgement attached, so that when I procrastinate, I'm an undisciplined slob, I feel worse, more procrastination, spiral.

As you said, having discipline reframed into triggers and motivation allows more objective reasoning. You do the task because you have a well created system of triggers that you follow regularly because you know the _why_ of what you're doing at a big picture level. If I procrastinate, it means my system or my why isn't working for me, and I need to reevaluate.