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One of my friends is actually working on breeding blue tuxedo urchins in his tank! Very cool stuff but very involved. It doesn’t just happen spontaneously
It's not impossible, but it's fairly unlikely. Sea urchin babies are free floating for a really long time (I believe around two years), so to be a baby of your urchins, they would have had to have mated quite some time ago, produced viable spawn, and then the free-floating larva would have to survive in your tank (and your filter / sump / protein skimmer / etc) until it was big enough to be visible to you.