Transfer head wobbling on the core side

[RemiFabre]

Currently this only works in the conv app. This should be a good feature on the core side directly. Reachy mini would be able to enable/disable it whenever, on any sound (even music or pings) and it would simplify the synchronization method (we could go back to a much more direct approach that works on anything going through the card sound?)

[FabienDanieau]

@RemiFabre I've started something, you can try with

python examples/sound_play.py --live --wobbling
python examples/sound_play.py --wav src/reachy_mini/assets/impatient1.wav --wobbling

this wav example is not the best but you got the idea

[RemiFabre]

Nice! It tested this and have a few comments. Creating the PR to discuss there