Tommi_Pajala comments on Open thread, Sep. 26 - Oct. 02, 2016 - Less Wrong
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Sounds like Convict Conditioning to me.
I haven't read it myself, but some friends have praised the book and the exercises included.
I've read it, still practice it and I recommend it.
The only piece of 'equipment' you'll need is a horizontal bar to do pullups (a branch or anything that supports your weight will work just as well).