Sure, look at boxers and the shape they get in! Still when I start people out, I simply have them “fake jump rope” getting their body used to the jumping and arm motions. I feel this allows the person to get used to the actions but continue the cardio workout. As they get comfortable, I then add in the actual rope.
Persoanlly I have found that someone that starts out with the rope takes too long getting used to it so their cardio is broken every time the rope catches their foot. Hope this helped!