To reproduce the error, you will need to upload a file in target s3InputBucket named document(1).pdf and a SNS message would be generated to trigger the StepFunction execution.

In StepFunction -> State Machine execution errors like following:

InvalidS3ObjectException for object: s3://{myS3Bucket}/{myS3BucketPrefix}/document%281%29.pdf

which means the filename document%281%29.pdf is not found in target S3 bucket because the original file uploaded to the S3 bucket is named document(1).pdf.
This bug is caused by the SNS message handling process does not correctly handle parentheses in URL translating