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                                            Alexandre Amice

Serialize (and deserialize) a MathematicalProgram (e.g. to Yaml)

I think `MathOptInterface` is going to be challenging to fully support in Drake. My proposal is more narrow: When `MathematicalProgram` is a convex program, support writing to `CBF` [format](https://docs.mosek.com/latest/capi/cbf-format.html). This...