I don't use URC but I have C4 and am using this to control my dmx lighting. There's a nice little video showing its use as well.
[Link: response-box.com]All commands get sent to this box using rs232 and then the box converts to dmx512. All commands are very simple to use.
I'm using dmx drivers from here,
www.holidaycoro.com, for my rgb strip lighting in my bar area and alcove lighting above my crown molding. i also got my power supplies from here as well.
I'm kind of in the same spot as you with the can lights. Not much out there, but there are a few to look at. Hopefully, if time allows, I will be testing out a few of these because I would like the functionality too.
I was going to try this,
[Link: amazon.com]I also have the Hue system. While it is a great novelty for novice users, I find the control portion into a control system to be a bit clunky. A lot of programming involved. And it becomes pretty expensive when you want to change a whole room or floor.
In C4 using the solution above, it's a matter of adding the control dimmer and setting the dmx channel to the dimmer and that's it.