https://forum.freecadweb.org/viewtopic.php?p=502258
It links to the install instructions for installing pip. There it proposes for Linux to use:
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sudo apt install python3-venv python3-pip
(Bare with me, I have in the past, used pip to install things and totally wrecked the python environment, to the point that not only would FreeCAD not run or compile, but not even an appimage would run. And it took a few days to figure how pip clobbered what. So, I'm a bit gun shy of pip... )