Is this a Bristle Worm?

[newreefer_59]

Is not a great pic, but is about the size and length of a persons small finger and looks leggy like a centipede. Only see it occasionally and does not seem to disrupt anything. I know it can be beneficial as a part of the cleanup crew, but should I try to trap it or let it be. I have a 150 gallon reef and fish friendly set-up with SPS and LPS coral.

Thanks.