There are tons of definitions for what happens and how it happens. My favorite definition (or rather, the way I look at it) is a bit different to some established ways of seeing it.
There is the distinction of what body we use to go where, and categories to illustrate them: Body->etheric->astral and it goes up in definition all the way to mental, corresponding to the reported planes or locales.
There is Robert's definition: The physical body, utilizing the chakras, generates or rather projects the energy body, which would be a subtle body, and it goes to the RTZ and the astral, and so on. In this definition (which I like very much) the energy body 'is the energy body', in other words, it is what it is, and it can vary in vibration to be closer to the RTZ or etheric (lower) or up to the astral, adjusting it's frequency to wherever you are able to go. So it's really the same body- it does what you're able to make it do depending on your focus, intention, and ability.
The way I see it is as thus (possibly the same way Robert sees it, but explained differently):
We exist simultaneously in all possible existence- From the ultra-abstract mental plane to the slow material plane, and even lower whatever exists that we don't the capacity to comprehend yet. What is now in the 'material' plane as we think we know it is our conscious focus- All the degrees of subtlety of our body all the way to nonlocality or supralocality are degrees that span the total of what we are. When we do energy work, and all the introspective and meditative work, we are training our conscious mind to connect to our energy body, what we are doing is projecting our consciousness into this energy body we already have and bringing our awareness to the realm it inhabits. We strengthen the energy body by doing the work, but we also establish a conscious connection to it- we are always connected to it, but we are not necessarily conscious of it or are able to manipulate it, and this is what we do when we project. But of course, this is my opinion.
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