feat(drs): add CLI support

[pavelnikonorov]

Add CLI commands leveraging the SDK DRS client (#56) to support for the GA4GH Data Repository Service (DRS) API, version 1.4.0.

This issue requires addressing the following tasks:

Implement the following commands in ./cli/src/main.rs:

• Retrieve metadata for a specific data object by ID:

ga4gh-cli drs metadata [object-id]

• Get access-url for data by its object-id and access-id:

ga4gh-cli drs access [object-id] [access-id]

• Add unit tests to ensure the reliability of the CLI DRS Client.
• Update CLI documentation with examples for each DRS method.

Additional context

• This issue is part of meta issue feat(drs): add support for the GA4GH DRS API #54. Refer to it for context and additional information.
• This issue requires feat(drs): add models #55 to be addressed first.