What do you do when you want to go on an outdoor adventure...but you also don't want to sleep on a slowly deflating air mattress? The answer: glamping. "Glamorous camping."

It sounds like an oxymoron - what could possibly be glamorous about "roughin' it" in the woods? - but it's real and for those who aren't quite ready for a full-wild experience, it hits just the right balance between camping and comfy.

For the most part, we are all about the traditional camping experience - crookedly pitched tent, blazing bonfire, perfectly golden s'mores - but we have to admit that these "luxury campsites" in Pennsylvania sound pretty nice when you wake up with a stiff back, no coffee, and mosquito bites everywhere.

We went searching for some awesome alternatives to old-school tent camping and easy-living RV trips, and found 7 cool camping upgrades in Pennsylvania that are worth checking out. We eliminated cabins and cottages from our list because, let's be honest, that's not really camping either (also, there are simply way too many to choose from and they deserve their own list!).

1. The Shawnee Inn (Stroudsburg)

These luxury tents in the Pocono foothills are furnished for absolute relaxation.

Each tent has a queen sized bed, a fold out sofa bed, electricity, running water, Wifi, and a lovely deck to relax on. Their "Glamping" package includes snacks, drinks, and breakfast served by a camp attendant (who also tends to the campfire for you).

Shawnee Inn is surrounded by the Delaware Water Gap National Recreation Area, which offers some excellent views.

100 Shawnee Inn Dr, Shawnee On Delaware, PA

2. Kozy Rest Kampground (Harrisville)

Here’s one glamping experience that is perfect for families. Kozy Rest is part of the Yogi Bear campground group that totally caters to the kiddos. You really get to pick your comfort level here – Kozy Rest has traditional campsites, RV sites, group sites, and cabins…but we think their rental yurts hit just the right "glamping" balance. The yurts have single and double bunk beds, sleep six people, and have a small refrigerator for keeping your snacks cool.

The yurts each have their own charcoal grill, picnic table, and fire pit. The park has tons of activities for kids, including a swimming pool, mini golf course, game room, playground, and group arts and crafts; and everyone can enjoy the walking trails, bike rentals, and other outdoor events (We totally want to go to this park-wide water fight).

449 Campground Rd., Harrisville, PA

Lake In Wood Resort has several unique camping and lodge options, but two of our favorites are the Tipi and the Yurt, so we're including both on this list.

(You can also stay in a caboose, covered wagon, or double-decker bus!)

576 Yellow Hill Rd., Narvon, PA

3. Lake In Wood Resort: The Tipi (Narvon)

With this luxury tipi, you get the best of both worlds – you have a comfy queen bed to sleep in, but you also can’t cook inside. Good thing there is a nice little covered dining canopy!

The Tipi even has a coffee maker - which you CAN use indoors - so you don’t have to wait for your morning cup of coffee.

4. Lake In Wood Resort: The Yurt (Narvon)

The Lake In Wood Yurt is pretty cool; it's right on the lakeshore and has its own private dock and paddleboat, as well as a lovely deck to lounge on.

The Yurt can sleep two adults and four kids, there is a small kitchen and loft area, but the best part is the view.

5. Keen Lake's Hermit Island

Ok, we know we said we were avoiding the cottages for this list…but you get your own island.

Keen Lake’s Hermit Island has a three bedroom cottage that is only accessible by boat, so even though you’re giving up a bit of the outdoors-y feel…the privacy of this four-acre island makes us think this cool spot deserves a nod.

155 Keen Lake Rd. Waymart, PA

6. Lake Raystown Resort (Entriken)

When it comes to camping, yurts are hardly "roughing it," but if you are looking for a getaway where you can enjoy the outdoors without creepy-crawlies climbing into your sleeping bag (or if you just can’t give up wifi), the Lake Raystown Resort in Entriken is the perfect place.

The yurts fit four to six people, are climate controlled, and have both a TV and mini-fridge. And yes, there’s wifi. But we suggest you put down your phones to check out the skylight built into the roof of the yurts – you can see the stars from the comfort of a cozy bed.

3101 Chipmunk Crossing, Entriken, PA

7. Whispering Pines Farm (Cabot)

This sweet farm retreat offers beautiful views of the rolling hills, fishing spots at the pond, horseshoe pits, tons of nearby trails, and spots to kayak along the Kiskiminetas River...

…as well as a 12’ x 14’ canvas tent, queen size bed, and lawn chairs to lounge in around the fire pit. What a relaxing getaway!

201 Winsome Lane, Cabot, PA

Have you stayed at a "glampground" that we might have missed? Share your stories in the comments!