Would you try and move a mantis shrimp into a better position?
Perhaps instead of considering moving it, work with the position it's in to get a close up of rhinopores or gills or colorations. Mike Veitch has a what I think is a great close-up shot of a Chromodoris coi markings. I wouldn't consider it a nudi shot anymore, but as an abstract that I think it works and is beautiful. You could also move your strobes around to try and avoid lighting up the rocks/sand/muck the nudi might be on. Of course if it's down in a pile of rubble, you're stuck but there are so many nudis out there another opportunity will present itself.
just my opinion...