"Copping" definitely means stealing. I haven't found the exact origin yet. Dictionary.com mentions it might be a variant of the Latin for capture, which is capere. Clearly there is a similarity.
Other than my book learnin' research, I can tell you that jazz musicians used to "cop" someone else's licks. These days it's called "lifting" or "transcribing," but back in the 50s and 60s it was "copping."
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Warden Gentiles: "It? Perfectly innocent. But I can see how, if our roles were reversed, I might have you beaten with a pillowcase full of batteries."
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