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In rsponse to @ahendrix, this a use-case

the data: "asdf.yaml"

main:
    namespace1: {data1: 1, data2: 2}
    namespace2: {data3: 3, data4: 4.5}

the use-case:

>rosparam load asdf.yaml
>rosparam list

In rsponse response to @ahendrix, this a use-case

the data: "asdf.yaml"

main:
    namespace1: {data1: 1, data2: 2}
    namespace2: {data3: 3, data4: 4.5}

the use-case:

>rosparam > rosparam load asdf.yaml
>rosparam asdf.yaml main
> rosparam list
  /main/namespace1/data1
  /main/namespace1/data2
  /main/namespace2/data3
  /main/namespace2/data4
 ...and other ros stuff

> rosparam get main/namespace1/data1
  1

> data = rosparam.load_file("asdf.yaml")
[({'main': {'namespace1': {'data1': 1, 'data2': 2}, 'namespace2': {'data3': 3, 'data4': 4.5}}},'/')]
# The parameter server is not touched, it just returns a list
> rospy.set_param("main", data)
> rospy.get_param("main")
   [[{'namespace1': {'data1': 1, 'data2': 2}, 'namespace2': {'data3': 3, 'data4': 4.5}}, '/']]

> rosparam list
   /main
> rosparam get main/namespace1/data1
   ERROR: Parameter [/main/namespace1/data1] is not set

In response to @ahendrix, this a an use-case

the data: "asdf.yaml"

    namespace1: {data1: 1, data2: 2}
    namespace2: {data3: 3, data4: 4.5}

the use-case:

> rosparam load asdf.yaml main
> rosparam list
  /main/namespace1/data1
  /main/namespace1/data2
  /main/namespace2/data3
  /main/namespace2/data4
 ...and other ros stuff

> rosparam get main/namespace1/data1
  1

In an IPython console

> data = rosparam.load_file("asdf.yaml")
[({'main': {'namespace1': {'data1': 1, 'data2': 2}, 'namespace2': {'data3': 3, 'data4': 4.5}}},'/')]
# The parameter server is not touched, it just returns a list
> rospy.set_param("main", data)
> rospy.get_param("main")
   [[{'namespace1': {'data1': 1, 'data2': 2}, 'namespace2': {'data3': 3, 'data4': 4.5}}, '/']]

Outside, in another terminal:

> rosparam list
   /main
> rosparam get main/namespace1/data1
   ERROR: Parameter [/main/namespace1/data1] is not set

So it doesn't load the namespace structure I think.