Melissa McCarthy embraced her inner criminal on the "Law & Order: SVU" set ... donning a disguise while pulling up to guest star on the long-running hit show. The star shared a video on Instagram Thursday night shortly after her cameo on the show aired ... which kicks off with her saying she wants to surprise Mariska Hargitay -- going so far as getting a rubber mask to hide her identity. It's certainly not a "Mission Impossible" level identity concealer -- but it apparently did the trick --

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