I think I just did now in my own tank!
While perusing through my tank with the aid of a pin light, I say a Brittle Worm about that size or bigger. It was more pink with purpleish dots on the outside edge than gray/brown (the one above). However, I may be wrong, it may be some other kind of worm! It moved when the light hit it. I couldn't believe my eyes, it moved slowly and slithered back in the rock. This is why they are called "live rocks". Lol
(sorry for the lousy description, if I can take a pic...I will be sure to post it).