Have you tried the 7 minute workout? There's a dozen exercises that you do for 30 seconds each for a total of 7 minutes. It feels a bit like gym class, but doesn't include the rope climb - thank goodness.
Michael and I did it this week and actually had a lot of fun.
The 30-second countdown was a bit clunky but Michael just found this handy 30 second timer that shows all the exercises as it countdowns.