diff --git a/CHANGELOG.md b/CHANGELOG.md
index a55b7e5d..ecf84e25 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,9 @@
 # Changelog
 
+## 0.83.0 (2026-02-19)
+
+- Add referenceuri to PickPlaceHistoryItem
+
 ## 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..accbbc58 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,8 +18,8 @@ set( CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE )
 # Define here the needed parameters
 # 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_MINOR 83)
+set (MUJINCLIENT_VERSION_PATCH 0)
 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/mujindefinitions.h b/include/mujincontrollerclient/mujindefinitions.h
index d5072d27..55f7ccb1 100644
--- a/include/mujincontrollerclient/mujindefinitions.h
+++ b/include/mujincontrollerclient/mujindefinitions.h
@@ -135,6 +135,7 @@ class MUJINCLIENT_API PickPlaceHistoryItem : public mujinjson::JsonSerializable
     std::string containerName; ///< the name of the container where picking occurred for "picked", where placing occurred when "placed", and where touching occurred for "touched"
     unsigned long long eventTimeStampUS = 0; ///< time that the event ocurred in us (from Linux epoch). For "picked" this is the chuck time, for "placed this is the unchuck time, for "touched" this is the time when the robot supposedly stopped touching/disturbing the object.
     std::string object_uri; ///< the object uri
+    std::string referenceuri; ///< the object uri
     Transform objectpose; ///< 7-values in world, unit is usually mm
     AABB localaabb; ///< AABB of object in object frame.
     unsigned long long sensorTimeStampUS = 0; ///< sensor timestamp in us (from Linux epoch) of when the object was detected in the scene
diff --git a/src/mujindefinitions.cpp b/src/mujindefinitions.cpp
index 374322c3..e22c9b38 100644
--- a/src/mujindefinitions.cpp
+++ b/src/mujindefinitions.cpp
@@ -25,6 +25,7 @@ void PickPlaceHistoryItem::Reset()
     containerName.clear();
     eventTimeStampUS = 0;
     object_uri.clear();
+    referenceuri.clear();
     objectpose = Transform();
     localaabb = AABB();
     sensorTimeStampUS = 0;
@@ -54,6 +55,7 @@ void PickPlaceHistoryItem::LoadFromJson(const rapidjson::Value& rItem)
     mujinjson::LoadJsonValueByKey(rItem, "containerName", containerName);
     mujinjson::LoadJsonValueByKey(rItem, "eventTimeStampUS", eventTimeStampUS);
     mujinjson::LoadJsonValueByKey(rItem, "object_uri", object_uri);
+    mujinjson::LoadJsonValueByKey(rItem, "referenceuri", referenceuri);
 
     const rapidjson::Value::ConstMemberIterator itPose = rItem.FindMember("objectpose");
     if( itPose != rItem.MemberEnd() ) {
@@ -86,6 +88,7 @@ void PickPlaceHistoryItem::SaveToJson(rapidjson::Value& rItem, rapidjson::Docume
     mujinjson::SetJsonValueByKey(rItem, "containerName", containerName, alloc);
     mujinjson::SetJsonValueByKey(rItem, "eventTimeStampUS", eventTimeStampUS, alloc);
     mujinjson::SetJsonValueByKey(rItem, "object_uri", object_uri, alloc);
+    mujinjson::SetJsonValueByKey(rItem, "referenceuri", referenceuri, alloc);
     std::array<Real,7> posearray;
     posearray[0] = objectpose.quaternion[0];
     posearray[1] = objectpose.quaternion[1];