diff --git a/CHANGELOG.md b/CHANGELOG.md
index a55b7e5d..29ddf615 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,9 @@
 # Changelog
 
+## 0.82.4 (2026-03-04)
+
+- Improve GetJsonValueByKey exception message to mention expected key and type.
+
 ## 0.82.3 (2026-02-04)
 
 - Set Accept-Encoding:gzip if the linked libcurl supports it
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 35a2b16e..7d306e13 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -19,7 +19,7 @@ set( CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE )
 # make sure to change the version in docs/Makefile
 set (MUJINCLIENT_VERSION_MAJOR 0)
 set (MUJINCLIENT_VERSION_MINOR 82)
-set (MUJINCLIENT_VERSION_PATCH 3)
+set (MUJINCLIENT_VERSION_PATCH 4)
 set (MUJINCLIENT_VERSION ${MUJINCLIENT_VERSION_MAJOR}.${MUJINCLIENT_VERSION_MINOR}.${MUJINCLIENT_VERSION_PATCH})
 set (MUJINCLIENT_SOVERSION ${MUJINCLIENT_VERSION_MAJOR}.${MUJINCLIENT_VERSION_MINOR})
 set (CLIENT_SOVERSION ${MUJINCLIENT_VERSION_MAJOR}.${MUJINCLIENT_VERSION_MINOR})
diff --git a/include/mujincontrollerclient/mujinjson.h b/include/mujincontrollerclient/mujinjson.h
index cc8dd659..7350d8ab 100644
--- a/include/mujincontrollerclient/mujinjson.h
+++ b/include/mujincontrollerclient/mujinjson.h
@@ -1122,7 +1122,7 @@ inline void LoadJsonValueByPath(const rapidjson::GenericValue<Encoding, Allocato
 template<typename T, typename U, typename Encoding=rapidjson::UTF8<>, typename Allocator=rapidjson::MemoryPoolAllocator<> >
 T GetJsonValueByKey(const rapidjson::GenericValue<Encoding, Allocator>& v, const char* key, const U& t) {
     if (!v.IsObject()) {
-        throw MujinJSONException("Cannot get value of non-object.");
+        throw MujinJSONException("Cannot get value of non-object (\"" + std::string(GetJsonTypeName(v)) + "\") for key \"" + std::string(key) + "\".");
     }
 
     typename rapidjson::GenericValue<Encoding, Allocator>::ConstMemberIterator itMember = v.FindMember(key);