Agree with @BPry . To add a little context, the pipe concept is a CLI construct, so it doesn't really apply to an API. This is made confusing by the fact that the PAN-OS API allows you to send it CLI commands, but a pipe on CLI is multiple commands sent together, which can't be done via API.
Since the API output is a parsable structure like XML or JSON, the best way to get what you need is to pull it out of the output using existing XML and JSON tools. This makes it easy to collect or filter to the exact information you need based on your own criteria and do whatever you want with it, as opposed to the CLI which has limited filtering and output options.
Hope that helps! Let us know if you need help figuring out a parsing strategy for whatever programming language you're using.
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