diff --git a/robocup_knowledge/src/robocup_knowledge/environments/rwc2023/challenge_rips.py b/robocup_knowledge/src/robocup_knowledge/environments/rwc2023/challenge_rips.py
new file mode 100644
index 000000000..c29b05ca7
--- /dev/null
+++ b/robocup_knowledge/src/robocup_knowledge/environments/rwc2023/challenge_rips.py
@@ -0,0 +1,9 @@
+starting_point = "initial_pose"
+
+intermediate_1 = "rips_point_1"
+intermediate_2 = "rips_point_2"
+intermediate_3 = "rips_point_3"
+
+exit_1 = "exit_1_rips"
+exit_2 = "exit_2_rips"
+exit_3 = "exit_3_rips"