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Grub4DOS offers some experimental "CD emulation" that works with some ISOs. Unfortunately, Grub4DOS only reads FAT32/NTFS filesystems. Download Grub4DOS.

 

Here's a sample entry (source):

 

title fdfullcd.iso (0xFF)

find --set-root /fdfullcd.iso

map /fdfullcd.iso (0xFF)

map --hook

root (0xFF)

kernel /isolinux/data/memdisk

initrd /isolinux/data/fdboot.img

Supposedly the Win7 ISO can be booted with this entry:

 

title Windows 7

map (hd0,0)/win7.iso (hd32)

map --hook

chainloader (hd32)