Can't plan using a list of waypoints

I've upgrade jacobi-motion to the latest version=0.0.17 and am using python 3.8.10

I can use the planner to plan from a start to goal waypoint, but the following code fails on line trajectory = planner.plan(waypoints)

planner = Planner('xxx', delta_time=0.01)  # [s]
planner.set_authentication(
    'xxx', 'xxx')

trajectory = planner.plan(
    start=[0, 0, 0, 0, 0.32, 0.0, -0.68, 0.0, -1.57, 0.97, 1.57],
    goal=[0, 0, 0, 0, 0.32, 2.0, -0.68, 0.0, -1.57, 0.97, 1.57])  # this passes

waypoints = [[0, 0, 0, 0, 0.32, 0.0, -0.68, 0.0, -1.57, 0.97, 1.57],
                [0, 0, 0, 0, 0.32, 2.0, -0.68, 0.0, -1.57, 0.97, 1.57],
                [0, 0, 0, 0, 0.32, 0.0, -0.68, 0.0, -1.57, 0.97, 1.7]]
trajectory = planner.plan(waypoints)  # this fails

I get the following error:

Traceback (most recent call last):
  File "jacobi_testing.py", line 22, in <module>
    trajectory = planner.plan(waypoints)
jacobi.JacobiError: 
[jacobi.exception.planner]
    Please set up an environment via the Jacobi API.