Re-organise robochef code and add a catalogue of annotation types cf HCSVLAB-711

The first change just puts the sub-modules in the hcsvlab_robochef directory so that the driver scripts (main.py and test.py) can find them without having to install the code or mess with external directories.   

The second change is a minor fix for COOEE.

The third change modifies the way that annotation RDF is generated to ensure that all annotation types are known and are URIs rather than literals.  

Needs full testing - I've not fixed the unit tests which expect literal annotation types. I've not (yet) run this over all collections.  

Now added modifications to MD ingest to read annotations from TextGrid files.