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Yes, if you add obstacles to the costmap, the robot will avoid those (virtual or not, the robot doesn't know this distinction). There are multiple ways to achieve this goal:

1. Generate fake sensor data like fake LIDAR scans and feed those to the obstacle layer
2. Use a static map (that you could draw with an image editor of your choice) with the static map layer
3. Implement your own costmap layer plugin which would allow you to perform arbitrary modifications to the costmap.