There is mention of a Flexibility Steel Mobility Complex, which I have been doing ever since it appeared in this forum. Like @natewhite39 mentioned is pretty much doing circular motion at every joint. Like @Pavel Macek mentioned it is mainly taken from SJ, RIS and FS. I particularly like the Egyptian. I use this 7-8 min warmup before every single session and it has done wonders for my joints, especially shoulders.
On youtube there are videos of Max Shank doing what he calls '5 minute flows', to be done daily when you wake up; they are good too.