On my last flight I did a little "research" into this. This data of from 767-300.
First landing was what I would rate as smooth, IVSI reading 160ft/min, after the flight I got the "g" readings from the recorded parameters. Landing G was 1.101, max inflight was 1.284, min inflight was 0.801.
Second landing was HARD. I mean no flare.
IVSI reading 490ft/min. G reading was 1.264, with max inflight 1.264 (the landing) and min inflight 0.582 (some moderate turbulence).
So hopefully this will give you a good idea of what to aim for. But remember, in large jet aircraft the aim is not to "grease" it on, while floating half-way down the runway, but to land in the landing zone, even if this results in a firmer landing.