Thomas that particular error is caused by a layer or material (most likely) with an invalid character.
‘Name cannot contain any of the following characters:\n[{}|;<>?`~]\nor any of the non-printable characters.’
There are 3 fundamental ways to get Rhino Geometry into Revit.
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Direct Shapes
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Families
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Import/Link .3dm
Direct Shapes
- Breps either manually selected or via Geometry Pipeline (Layer) are added to Revit as In-Place Families (geometry is not editable after placing). These can have Info properties for tagging and schedules as well as a material.
Families
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Components: Creating Editable Families with the New Component Family in a project or via an open Family Document.
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System: Using Add Components to create Walls, Place Doors, Windows.
Import/Link .3dm
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Link a .3dm file via Insert>Manage Links>Cad Formats
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Import a .3dm file
All these import methods need to conform to Revit tolerances. The Rhino preview will highlight the edges and points that are causing issues in your shelving.
https://www.rhino3d.com/inside/revit/1.0/guides/rir-grasshopper#tolerances