Go to the Library Manager and click the Add button to add it to your Project.
Or in the Object Settings Dialog click the Load Other Object button in the lower left corner (second button from left).
The object will be added to your Embedded Library.
Then in the Object Settings Dialog, go to your Embedded Library in the folder in the upper left area. The lower left area will show objects within that library. Click the Object you need to select it, click OK. Then place it on the Floor Plan.
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