Picture this... You are about to workout and need to warm-up, but don't want to do the wimpy walking on a treadmill for 5 minutes. That never targets your full body anyway and when you exercise the full body is used so naturally that's how you really want to warm-up as well. Always introduce movement based mobility drills into your warm-ups to completely prepare you for what is to come.
You are in luck because Carioca is a great drill to get the heart rate up while warming-up the lower body and core since it allows a somewhat aggressive hip thrust as the legs quickly move in the desired direction. After that, at the very least, simply perform a movement based upper body warm-up and you are good to go. Here's a video of what Carioca is.