Truth be told, you can learn to climb a rope without using your feet with a simple training device. They keep them in most back yards in in BC, not so sure about the flatlands and back east. Trees, go climb trees.
Both me and my kid brother practically lived in them since we could climb. I could do a 35 foot rope climb with no feet in training load out, and my Kid brother (Now a Navel Cadet at RMC!) could equal or beat me.
The real trick to rope climbing is balance, using all your force to up, not side to side. Climbing a tree will teach you this (or kill/maim you, one of the two).
Yes, i know it sounds silly, but go climb a tree to about 40 feet a few times and see what starts burning, it will be mostly your shoulders and forearms, with a weird burn in your stomach.