Essex is a county in southeast England, between London and the North Sea. The town of Colchester has Roman ruins and the Norman-era Colchester Castle, with a museum. Colchester Zoo is home to orang-utans and white rhinos. Southwest, 18th century Hylands House in Chelmsford is set amid vast parklands. To the north is the medieval market town of Saffron Walden, home to Jacobean estate Audley End House and Gardens.