Use persistent caching with pip

Use a persistent cache directory for pip install calls (at https://github.com/apache/beam/blob/master/buildSrc/src/main/groovy/org/apache/beam/gradle/BeamModulePlugin.groovy#L1771 and some more in that file.)

Pip does support caching (https://pip.pypa.io/en/stable/reference/pip_install/#caching) but the default directory may not be persistent across jobs.

[~ibzib] you mentioned that this might help with container build times. Containers are build by runnin pip inside the container, I am not sure if that will be possible to use the same shared cache for that process or not.

Imported from Jira [BEAM-8380](https://issues.apache.org/jira/browse/BEAM-8380). Original Jira may contain additional context.
Reported by: altay.
Subtask of issue #19900