Function copp2_socp_expert_with_info 

pub fn copp2_socp_expert_with_info<'a, M: RobotTorque>(
    problem: &Copp2Problem<'a, M>,
    options: &ClarabelOptions,
) -> Result<ClarabelExpertInfor2nd, CoppError>

Expert COPP2-SOCP API with Clarabel solution and linear-solver diagnostics.

Use this variant when callers need more than DefaultSolution, because Clarabel stores linear solver metadata on the solver info object rather than inside the returned solution.

Status acceptance follows ClarabelOptions::is_allow; see that method for the shared status-handling pattern.