nanopb installation instruction fails: west: unknown command "packages"

I was following the nanopb setup instructions and getting an error at this step:

$ west packages pip --install                                                                                                                                             master
usage: west [-h] [-z ZEPHYR_BASE] [-v] [-V] <command> ...
west: unknown command "packages"; workspace /opt/nordic/ncs/v2.9.1 does not define this extension command -- try "west help"

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