What do you mean by URC? Generally, URC is the abbreviation for the company Universal Remote Control, Inc. All of URC's remotes are fully learning.

However, you probably are saying that you went to Radioshack or the similar, saw "Universal" on a remote, thought it would work, bought it, and tried to "program" it by entering a code.

In that case, I take it that you're not looking for a high-end remote. Philips and Sony each have a cheap learning remote (as reviewed on the RemoteCentral homepage). You'd need the original remote to teach the commands to one of those remotes. If you don't have the original, you may have to get a higher-end PC programmable remote to get the codes.