Former Navy SEAL Randy Hetrick has developed a fitness regimen based on his grueling military training that virtually anyone can undertake.

The workout does not involve expensive equipment and can be done while traveling or at home or a gym, Yahoo.com reports.

Hetrick’s TRX system uses a belted harness that can be thrown over the top of a door and allows for about 100 different exercises that could be done using only body weight.

The device, developed with help from Stanford Business School, is marketed to fitness enthusiasts who travel for work and need a portable workout solution, as well as physical trainers looking for a new workout tool to use with their clients.

TRX is now in more than 10,000 gyms in the United States and used by professional sports teams, including in the NFL, the NBA, MLB, and the NHL.