It indeed doesn’t have to be expensive. I’ve made my half rack out of 4x4’s and plumbing supplies. The pull up bar is a 1 inch galvanized pipe, and the suspension trainer are tow straps with cheap handles from Amazon. I also like to work with the heavy “sand bag”, which is really just a duffle bag filled with rubber mulch, weighing approximately 120 lbs. I’m still looking for a 72-inch bar to complete the setup. The other nice part is that it all fits in a roughly 8’ x 6’ space.
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