For anyone referring in the future, here is some fairly primitive code that should work (nearly) out of the box. This was quickly pulled and edited from a larger script, but should be ok.
foreach my $vmsInCluster (@{$cluster_view->configurationEx->group}) {
if (ref($vmsInCluster) eq "ClusterVmGroup") {
print "DRS rule name is: ", $vmsInCluster->name, "\n";
foreach my $vmNames (@{$vmsInCluster->vm}) {
my $vmMor = Vim::get_view(mo_ref => $vmNames);
print $vmMor->config->name, "\n";
}
}
}