List NPM workspaces similar to lerna ls

I'm looking for an NPM command similar to lerna ls that would print out all workspaces.

For example, let's say I have package1 and package2 in a packages sub-directory and my package.json looks like this:

"workspaces": [
 "./packages/*"
]

I would like to get a list of NPM 7 workspaces. For the example I would expect:

• packages/package1
• packages/package2

I was hoping npm ls -p --depth 0 would do this, but unfortunately it's printing out other dependencies as well.

I guess I could use npm ls -json and parse out the top level dependencies. However, I'm hoping there's a better way?

There's a new way in npm@8:

npm query .workspace | jq -r '.[].location'

Returns the expected result:

packages/package1
packages/package2

Still requires jq, but slightly cleaner than before.