Yes! You can pick up and return books at Hopkins libraries at the following locations.

Baltimore:
Friedheim Library of the Peabody Institute
21 E. Mount Vernon Place 
Baltimore, MD 21202
Phone: 667-208-6655

Welch Library
1900 E. Monument Street 
Baltimore, MD 21205
Phone: 410-955-3410

Washington, DC:
Sheridan DC Library
555 Pennsylvania Avenue NW
Washington, D.C. 20001
Phone: 202-663-5900

For more details, email circmail@jhu.libanswers.com.