OMG!!! This is by far one of the best memory foam mattresses I have ever used!!! I bought this for my niece whose coming to live with us and I cannot wait for her to try it! Its firm but still conforms to your body to give a good sleep alignment.  This brand has now become my new GO TO for mattresses!!
You cannot go wrong with a lucid.  
It even took its full shape within 30 minutes to decompress. Super impressed.