Move headers from src/experimental/usd to include/experimental/usd

PiperOrigin-RevId: 775269423
Change-Id: Ifca6c3ead32b9fb3f02784ed38a9efae300be410

include/mujoco/experimental/usd/writer.h

@@ -0,0 +1,52 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_WRITER_H_
+#define MUJOCO_SRC_EXPERIMENTAL_USD_WRITER_H_
+
+#include <functional>
+#include <vector>
+
+#include <mujoco/mujoco.h>
+#include <pxr/usd/sdf/path.h>
+#include <pxr/usd/usd/common.h>
+
+namespace mujoco {
+namespace usd {
+using PoseSinkFn =
+    std::function<void(const mjData* const, std::vector<pxr::SdfPath>)>;
+
+class Writer {
+ public:
+  Writer(pxr::UsdStageRefPtr stage, mjSpec* spec, mjModel_* model);
+  ~Writer();
+  Writer(const Writer&) = delete;
+  Writer& operator=(const Writer&) = delete;
+
+  void Update(const mjData* const data);
+  void AddSink(PoseSinkFn sink_fn);
+
+ private:
+  void BuildMjUsdMapping();
+
+  pxr::UsdStageRefPtr stage_;
+  std::vector<pxr::SdfPath> body_id_to_path_;
+  mjSpec* spec_ = nullptr;
+  mjModel_* model_ = nullptr;
+  std::vector<PoseSinkFn> pose_sinks_;
+};
+}  // namespace usd
+}  // namespace mujoco
+
+#endif  // MUJOCO_SRC_EXPERIMENTAL_USD_WRITER_H_