Essential Services means obtaining necessary supplies and services for your household, engaging in activities essential for the health and safety of your household and engaging in outdoor exercise activities so long as you have at least six feet between people who do not live in your household.
You can go to the grocery store, medical appointments and the pharmacy. You can go pic up food or have food delivered to your house. You can leave your house to buy supplies to clean or maintain your house. You can go outside to exercise. You can also leave your house in an emergency.
The key takeaway is that you need to stay in your house as much as possible but it is recognized that there are circumstances in which people will need ot leave. Keep those circumstances rare, consolidate trips as much as possible and use take-out, curbside pick-up and delivery services whenever possible to prevent the spread of COVID-19.