P3DO only handles sending filenames over a tcp/ip socket. A server daemon (like prpcd.py) needs to be running inside of Vue, listening on the tcp/ip socket for the incomming filename. The server daemon (in this case) is written in the python programming language. I don't think Yarp programs in that language. Yarp could alter a file to create the proper header (pp2->pz3), then send the filename. However, you still need a server daemon running in Vue to get the filename and load it.