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perhaps dd a file of the right size.
mkfs of the right filesystem on the file.
mount the file (-o loop), copy whatever contents to it.
and then burn it in some form of raw.
just a guess though, I've never had a need for special file-system iso images.
man mkisofs
I think there's also options to enable boot like parameters. el-torito or other options. I think the burning software (cdrecord / growisofs / wodim / cdrdao / ???) has options for boot type stuff. You might also try K3b, it might package that into it. Don't know though, I normally do things the hard way.
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