oh, so many details about error management! 

from 2013.. 

====

To summarize the process:

Use x264 through ffmpeg or directly to convert the video to H.264 per the

recommendations on www.x264bluray.com. Add the -fps flag if you need it.

Unless you have a REALLY fast machine or an eternity to wait, use the slow

preset instead of veryslow.

Extract the audio, I used ffmpeg to extract the existing AC3 audio.

Use tsMuxeR to create the proper blu-ray folder structure and mux'ed stream

(unfortunately not FOSS, but free)

Use ImgBurn under WINE to create the image for burning, which supports UDF

2.50 for blu-ray (and 2.60, but that's not needed).

===

so for now tsmuxer IS free, but imgburn not. 

imgburn might require setting windows version in Wine to winxp

in theory new mkudffs can be used for making udf image, and then.. 

try udfclient (cli tool from netbsd) to put files into it (should be in debian/ubuntu) ? 

===

udfclient interactive commands

------------------------------

These are ftp-like, with some differences. Use the 'help' command at

the "UDF>" prompt to display a summary.

Of particular value is a 'get' or 'put' of a directory. This will copy

the entire structure in or out of the filesystem.

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note, some of those links contradict each other on (un) ability of udfcliet to put files/dirs into udf 2.5 formatted image... Only test will tell.. (afterwards usual linux kernel driver should show files in r/o mode) 

nerolinux is also non-free (and from 2012)

(not tested)