Carletes,
I would consider any steel pipe of Schedule 40 and greater to be rigid in this context.
The criteria used in design of a combined soil/pipe structure are stress, strain, deflection, buckling and resisatance to combined loading. All are able to be determined using the procedures in As 2566.1. You will also need to know the native soil modulus, dead and live loads, water table level.
Cooling water pipework in power plants is generally of large diameter and only moderate presssures. Also it is generally cement lined to prevent corrosion. The cement lining limits tyhe allowable deflection to 2-3% depending upon the manuafcturer and process used.
The other pespective is a risk assessment of your pipeline where you consider likelihood of an event and the consequences of failure. The latter in itself would normally constitutue such a high level for an asset such as a power plant that one would assess each and every line.
Its the clients call as to the level of engineering. Some folks may use this forum to provide a "get out of jail free card" so they can justify not doing the engineering. They need to think of what the Coroner might say if there is a failure!