Exercise

I’m having a hard time exercising. My doctor wants me doing at least 30 minutes of exercise a day but I’m on some pretty intense restrictions because I have arthritis. I can’t do anything that’s considered medium or high impact. So I’m limited to basically walking and swimming. Because of the pandemic, public pools just aren’t a thing and we’re in an apartment so we don’t have our own. We live in a very bad neighborhood (I’ve been harassed while on a walk by myself before) so I don’t want to walk alone but my husband usually works 12 hour shifts so by the time he gets home, it’s dark and he’s exhausted. Is there something else I can do at home that I’m just not thinking of?