I like to use my home-made "heavy rope" for a warm up activity every day before I use start the conventional jump ropes. By "heavy rope" I mean, this is a custom rope I created by braiding several cloth ropes together. This rope has no handles - just knots on the ends. It's somewhat soft and doesn't hurt when I collide with my face. Not much jumping - the goal is to try to get the arms, shoulders and calves stretched.
"Bola" type rope manipulations using the heavy rope are a fun way to start off a jump rope workout. This activity fits well with the tempo of Miles Davis' Jazz Fusion tun "Big Time". I first heard this song on the Marcus Miller (feature bassist) show on XM and it's kind of stuck with me. Stay Fit.