Add drift-free oven metric validation for episode 0

.gitattributes

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artifacts/results/metric_iter19_ep0_independent/summary.json

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artifacts/results/metric_iter19_ep0_independent/templates.json

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+    "hold_open_angle": 0.7285879850387573,
+    "open_more_delta": 0.12,
+    "reference_tray_height": 1.0472617149353027,
+    "mask_handle_ids": [
+      192
+    ]
+  }
+}

artifacts/results/metric_iter19_ep0_independent/templates.pkl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9654a892a8bc231d35df19d719d44ddddb754b3a6748332d18d91e6eb3ba48f6
+size 2351

artifacts/results/metric_iter19_ep0_independent/visualizations/README.md

@@ -0,0 +1,13 @@
+# Visualizations
+
+- `episode0_visibility_focus.gif`: three-view visibility montage over dense frames 212-252.
+- `episode0_path_quality_focus.gif`: path-quality montage over dense frames 216-304.
+- `episode0_all_metrics.gif`: full episode overlay GIF over dense frames 0-328, sampled every 2 frames.
+- `frames/visibility_focus/`: per-frame PNGs with scene overlays, x-ray projections, and tray-mask views.
+- `frames/path_quality_focus/`: per-frame PNGs with demo wrist trails plus planned pregrasp/grasp/retreat path overlays.
+- `frames/all_metrics/`: per-frame PNGs with the episode-wide metric bars and phase banner.
+
+Legend highlights:
+- Visibility: blue = sampled tray surface, magenta = sampled grasp region, green = depth-consistent visible grasp samples.
+- Path quality: cyan/purple = recent left/right demo wrist trails, yellow = pregrasp, orange = grasp, green = retreat / extraction path.
+- All metrics: red banner = reveal phase, green banner = retrieve phase.