Developed body impressions

We were out for a firm mattress and communicated that to the sales person. Also take note that "firm" is in the name of the mattress. We had this brand new mattress less then 2 weeks and it developed body impressions an inch deep (measured without a body in it, so it significantly deeper when we were in them). Because of these body impressions we cannot comfortably lay together, spoon, or lay at a different angle from the body impression. The body impressions hold us in place and separate from each other. The dip pushes my husband's shoulders up and he sleeps worse than he did on our old coil mattress. These body impressions do not currently meet the warranty card specifications so Simmons isn't doing anything about it. They recommended we rotate it to even things out and was told by a representative that "these impressions are ok" Reminder we had the mattress less than 2 weeks before the impressions showed up. The mattress was a dream for about a week and we are very disappointed at how everything turned out.