Problem loading urdf in rviz (groovy)

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I'm trying to follow urdf tutorials at http://www.ros.org/wiki/urdf/Tutorials/Building%20a%20Visual%20Robot%20Model%20with%20URDF%20from%20Scratch and in the very first step I'm having difficulties to load the urdf model in rviz. As suggested by tutorial, I run the command:

roslaunch urdf_tutorial display.launch model:=01-myfirst.urdf

Running this line, an empty rviz scene is opened like the image below:

http://img268.imageshack.us/img268/5176/screenshot20130211at315.png

Just in case, here is the contents of the urdf.vcg file:

Background\ ColorR=0.0941176
Background\ ColorG=0
Background\ ColorB=0.466667
Fixed\ Frame=/base_link
Target\ Frame=<Fixed Frame>
Grid.Alpha=0.5
Grid.Cell\ Size=0.5
Grid.ColorR=0.898039
Grid.ColorG=0.898039
Grid.ColorB=0.898039
Grid.Enabled=1
Grid.Line\ Style=0
Grid.Line\ Width=0.03
Grid.Normal\ Cell\ Count=0
Grid.OffsetX=0
Grid.OffsetY=0
Grid.OffsetZ=0
Grid.Plane=0
Grid.Plane\ Cell\ Count=10
Grid.Reference\ Frame=<Fixed Frame>
Robot\ Model.Alpha=1
Robot\ Model.Collision\ Enabled=0
Robot\ Model.Enabled=1
Robot\ Model.Robot\ Description=robot_description
Robot\ Model.TF\ Prefix=
Robot\ Model.Update\ Interval=0
Robot\ Model.Visual\ Enabled=1
Robot\:\ Robot\ Model\ Link\ base_linkShow\ Axes=0
Robot\:\ Robot\ Model\ Link\ base_linkShow\ Trail=0
Robot\:\ Robot\ Model\ Link\ legShow\ Axes=0
Robot\:\ Robot\ Model\ Link\ legShow\ Trail=0
Tool\ 2D\ Nav\ GoalTopic=goal
Tool\ 2D\ Pose\ EstimateTopic=initialpose
Camera\ Type=rviz::OrbitViewController
Camera\ Config=1.15779 3.76081 2.16475 0 0 0
Property\ Grid\ State=selection=.Global StatusTopStatus;expanded=.Global Options,Grid.Enabled,Robot Model.Enabled;scrollpos=0,0;splitterpos=150,285;ispageselected=1
[Display0]
Name=Grid
Package=rviz
ClassName=rviz::GridDisplay
[Display1]
Name=Robot Model
Package=rviz
ClassName=rviz::RobotModelDisplay

P.S. Running the command above, generates no error.