I spent a lot of time training in L.A. back in the nineties. Before I go into what I remember about this (which ain't much) Here's an article from Black Belt magizine from 1995-
Black Belt - Google Books
What I remember being told from people who trained with either of the men was was that around the time Art Davie was first starting the UFC he wanted Rorian and Benny the Jet to match up. (not for the UFC, this was before) The question, as it usually is, was about money and rules. Gloves, no gloves, a ring or a mat etc, etc" but what really killed the deal was The Jet wanted "no more than thirty seconds on the ground before the fighters were stood up". Boy, talk about a deal breaker.
I also heard from people I trust that Rorian and Benny met in the early eighties and that Rorian closed the distance, took him down and choked him out. I heard that from several people - but they didn't actually see it. But they were pretty wired into the fight scene back then.
Whatever the case may be, Rorian Gracie and Benny Urquidez are two top of the line Martial Artists. To me, in a WOW kind of way.