Could a people do all sort of gymnastics movement in vacuum space? I asked this because I am worry about that the astronaut leave the space shuttle during emergency could not go back to earth by himself if there are no fuel on the astronaut, could he swim in space to get back on earth even if there are no water?
No, you can't move in space (aside from following your orbit), unless you have something to push against. See Newton's Laws of Motion. (Also, if said astronaut did manage to re-enter the atmosphere, he or she would burn up on re-entry. The impact wouldn't be survivable either.)
Astronauts are well aware that many sorts of emergencies will not be survivable.