initial implementation of parameter groups

[mr-c]

Adds an extension version of common-workflow-language/cwl-v1.3#35 and uses it to improve the --help output for CWL documents

[codecov]

Codecov Report

Attention: Patch coverage is 95.65217% with 1 line in your changes missing coverage. Please review.

Project coverage is 84.17%. Comparing base (6c86caa) to head (8e4f944).

Files with missing lines	Patch %	Lines
cwltool/argparser.py	95.65%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2079      +/-   ##
==========================================
+ Coverage   84.13%   84.17%   +0.04%     
==========================================
  Files          46       46              
  Lines        8312     8331      +19     
  Branches     1959     1966       +7     
==========================================
+ Hits         6993     7013      +20     
+ Misses        840      837       -3     
- Partials      479      481       +2     

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