Is it possible to go through all the URIs of a given URL (website) using selenium ?
My aim is to launch firefox browser using selenium with a given URL of my choice
As Khyati mentions it is possible, however, selenium not a webcrawler or robot. You have to know where/what you are trying to test.
If you really want to go down that path I would recommend that you hit the page, pull all elements back and then loop through to click any elements that would correspond to navigation functionality (i.e. "//a" or hyperlink click).
Although if you go down this path and there is a page that opens another page then has a link back you would want to keep a list of all visited URL's and make sure that you don't duplicate a page like that.
This would work, but would also require a bit of logic in it to make it happen...and you might find yourself in an endless loop if you aren't careful.