First, I'm really excited about this chair. It reached us faster than expected!  It took my husband an hour and a half to assemble because he had to shave the wood a taste to align properly. I have the rocker on carpet and it rocks well enough for me, I'm also 5'10 so my reach isn't very difficult.  It's firm but not too hard. In my opinion it's a true dark taupe but blended well with the gray, white and yellow theme. No complaints, go for it!