diff --git a/jsk_2022_10_semi/CMakeLists.txt b/jsk_2022_10_semi/CMakeLists.txt
new file mode 100644
index 0000000000..6356a1156c
--- /dev/null
+++ b/jsk_2022_10_semi/CMakeLists.txt
@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(jsk_2022_10_semi)
+
+find_package(catkin REQUIRED COMPONENTS)
+
+catkin_package()
+
+install(DIRECTORY euslisp
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  )
+
diff --git a/jsk_2022_10_semi/README.md b/jsk_2022_10_semi/README.md
new file mode 100644
index 0000000000..0cc94b6baa
--- /dev/null
+++ b/jsk_2022_10_semi/README.md
@@ -0,0 +1 @@
+# jsk_2022_10_semi
diff --git a/jsk_2022_10_semi/euslisp/demo.l b/jsk_2022_10_semi/euslisp/demo.l
new file mode 100644
index 0000000000..2ea2df0a3a
--- /dev/null
+++ b/jsk_2022_10_semi/euslisp/demo.l
@@ -0,0 +1,12 @@
+(load "package://fetcheus/fetch-interface.l")
+
+(unless (boundp '*ri*) (fetch-init))
+(objects (list *fetch*))
+
+(send *fetch* :reset-pose)
+(send *irtviewer* :draw-objects)
+
+(send *fetch* :rarm :shoulder-y :joint-angle 30)
+(send *fetch* :rarm :shoulder-r :joint-angle -120)
+(send *fetch* :rarm :elbow-r :joint-angle -30)
+(send *irtviewer* :draw-objects)
diff --git a/jsk_2022_10_semi/package.xml b/jsk_2022_10_semi/package.xml
new file mode 100644
index 0000000000..38807a102c
--- /dev/null
+++ b/jsk_2022_10_semi/package.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<package>
+  <name>jsk_2022_10_semi</name>
+  <version>0.0.5</version>
+  <description>The jsk_2022_10_semi package</description>
+
+  <maintainer email="k-okada@jsk.t.u-tokyo.ac.jp">Kei Okada</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <run_depend>fetcheus</run_depend>
+  <run_depend>jsk_maps</run_depend>
+  <run_depend>pr2eus</run_depend>
+
+  <export>
+  </export>
+</package>