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1

Gymnastic rings. They come with straps so you can adjust them to any height. Insanely adaptable.


2

Closest to what you're asking for are basically "bars with hooks". Here's a pair from FitBar: Depending on your needs/goals something like a Metolius Rock Ring might end up being more versatile: There are a lot of companies that make similar items; if these don't meet your needs, searching for "obstacle course racing training equipment" ...


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