fix: Validate input mesh name for USD compatibility

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py

@@ -10,7 +10,7 @@
 import omni.kit.commands
 import omni.usd
 from omni.isaac.core.utils.extensions import enable_extension
-from pxr import Usd, UsdGeom, UsdPhysics, UsdUtils
+from pxr import Tf, Usd, UsdGeom, UsdPhysics, UsdUtils
 
 from omni.isaac.lab.sim.converters.asset_converter_base import AssetConverterBase
 from omni.isaac.lab.sim.converters.mesh_converter_cfg import MeshConverterCfg
@@ -81,6 +81,17 @@ def _convert_asset(self, cfg: MeshConverterCfg):
         mesh_file_basename, mesh_file_format = os.path.basename(cfg.asset_path).split(".")
         mesh_file_format = mesh_file_format.lower()
 
+        # Check if mesh_file_basename is a valid USD identifier
+        if not Tf.IsValidIdentifier(mesh_file_basename):
+            # Correct the name to a valid identifier
+            corrected_name = Tf.MakeValidIdentifier(mesh_file_basename)
+            print(
+                f"Warning: File name '{mesh_file_basename}.{mesh_file_format}' is invalid for the input mesh path."
+                f" Using '{corrected_name}.{mesh_file_format}' as the identifier for this conversion."
+            )
+            # Update the basename
+            mesh_file_basename = corrected_name
+
         # Convert USD
         asyncio.get_event_loop().run_until_complete(
             self._convert_mesh_to_usd(