Context. Transition disks are considered sites of ongoing planet formation, and their dust and gas distributions could be signposts of embedded planets. The transition disk around the T Tauri star RY Lup has an inner dust cavity and displays a strong silicate emission feature. Aims. Using high-resolution imaging we study the disk geometry, including non-axisymmetric features, and its surface dust grain, to gain a better understanding of the disk evolutionary process. Moreover, we search for companion candidates, possibly connected to the disk. Methods. We obtained high-contrast and high angular resolution data in the near-infrared with the VLT/SPHERE extreme adaptive optics instrument whose goal is to study the planet formation by detecting...