[Feature Request]: Utils to translate RunnerApi.Pipeline to the normal beam Pipeline object

### What would you like to happen?

We would like to leverage the beam portal` RunnerApi.Pipeline` API spec to send the pipeline definition over the network
through Grpc services, but currently look like there is no existing method to translate the ` RunnerApi.Pipeline` to a normal
`Pipeline`.
Can Apache Beam provide such capability ?

### Issue Priority

Priority: 3 (nice-to-have improvement)

### Issue Components

- [ ] Component: Python SDK
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- [ ] Component: IO connector
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