My interpretation of the scene is that people were so used to public executions as casual entertainment that they carried on as if nothing special was happening; so children would play, babies would be fed, people would gossip -- seeing a 'criminal' die at the stake was not necessarily considered something horrific or unusual, as it would be to you or me, so there was a sense of flippancy. The breast-feeding was designed to illustrate a crowd of people just being a crowd of people, behaving normally, in that era, awaiting their entertainment. The same goes for the carnival entertainers, such as the sword-swallower.
In this case, once the crowd realises that Joan is a saint and a hero, things become very different, of course, and they riot.
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