This repository is a collection of ROS 2 tutorial files for learning URDF (Unified Robot Description Format). It contains a series of URDF files that progressively introduce concepts such as visual shapes, joints, physical properties, materials, flexibility, physics properties, and Xacro macros. The package includes meshes for a gripper model, an RViz configuration file, and a launch file to visualize the robots in RViz using the urdf_launch package. The system does not run as a standalone application but provides resources to be used with ROS 2 for educational purposes. The launch file serves as a simple entry point to load and visualize any of the provided URDF models.