The former manager of a Massachusetts Registry of Motor Vehicles branch has agreed to plead guilty to federal charges for taking bribes and in exchange for issuing passing scores on learner’s permit tests. Federal prosecutors said Thursday that Mia Cox-Johnson, who ran the Brockton office, is charged with extortion under color of official right and conspiring to commit extortion. Prosecutors say in a separate case, driving school owner Estevao Semedo, has agreed to plead guilty to accusations that he paid a road test examiner at the Brockton branch to pass people who had failed the test. Cox-Johnson's lawyer had no comment. Semedo’s attorney says his client is remorseful.