That looks like an eunicid which is packed with eggs (polychaete eggs are often blue, green, orange, or purple). The head area is on the right but I can't make out any details. Take a look at my image here: http://www.nhm.org/guana/bvi-invt/bvi-surv/images/worm-04/h0970a.htm
is this anything like your animal?
I bet your rocks have quite a few of these but they're small and relatively harmless. A lot of the small eunicids appear to eat detritus or scavenge.
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