armarx/skills/audio: Revert adding too restrictive dependencies

Revert too restrictive dependencies from !739 (merged) as this is not generally available on lab PCs and default setup.

There is no apparent reason to install this dependency via apt and not in the corresponding venvs instead. Further investigation is most likely required. I assume that it is not necessary to install it via apt, since it is not explicitly mentioned in !739 (merged).