We've measured the sound pressure level using a dedicated meter. At 3 feet away a swap is 60db. According to online sound level comparison charts 60db is about the same volume as an office or normal conversation or a 3D printer. Because you are listening on an un-calibrated sound system it may seem louder than it actually is. You could calibrate your sound system by downloading a sound level app for your phone (it's not going to be perfect but it will get close) then place your phone 3 feet from your speakers and play the video, then adjust the volume of your speakers until the sound level app says it's 60db. That said, our goal is whisper quiet so we are exploring ways to reduce the sound, which is annoying to some people especially if the printer is close to where they work, something as simple as little pockets of sound deadening insulation around each servo would take the volume down many decibels. We expect that users will also come up with their own ideas as it's a very easy system to mod.