PAM and Yubikey OTP

Is it possible to have a RDM write a password checked out in PAM to a Yubikey slot? This would be useful for technicians who need to use their administrator account to install or uninstall software that requires Windows UAC credentials, but our org has UAC setup in a secure environment so we cannot paste a password. If the password was stored on the Yubikey, it can be touched to fill in the password. Currently, we are manually copying the password to the Yubikey slot, but if this can be automated during checkout it would be more efficient.

**EDIT** I said OTP, I meant Static Password option in Yubikey. My apologies