The most kid and pet friendly couch material is leather. So far our blue leather couch has coped with 18 years of toddlers falling asleep and weeing on it, cat vomit, Easter eggs melting between the cushions, spilt milk, spilt orange juice, spilt red wine, spilt coffee, and muddy dog paws. It just wipes clean. Our white leather chair is just as durable and is now 24 years old and just starting to look grubby. So go with beige or cream if you want. It would be a lovely choice, just make sure it is leather. Black or mid or dark brown would also look lovely with that beautiful rug but I think lighter colours would look fresher. Don't be at all scared to use light coloured leather.

See lime green and bronze, even leopard print would work, be bold and it will bring your sofa up to a modern feel

Do you have a picture of the room? If you get a tan leather to go back with the grey, I would want to see cushions, throws, a rug and artwork that have lots of grey and tan to link the colour palette together. If you go for fabric, then your choices for decorating the space can potentially be broadened to your imagination... depending on what else is already in the space (that's why a photo will help).

There are so many shades of taupe it is impossible to say without seeing some photos of your home. I would suggest that you start looking at some light teals and pale aquas, but it really depends on what else is in your home. Best of luck, Dr Retro of Dr Retro House Calls