So I poked around in the KoboReader.sqlite and it seems like it isn't possible because the shelf doesn't have a ContentID. I tried adding a record into the table 'ShelfContent' using the ID from 'Shelf' as the ContentID, and adding it into 'content' the same way, imitating a book in most of the other columns. When I turned it on it just said "Unknown book".
It seems like it won't work because the shelves have no actual location for the ContentID (e.g. file:///mnt/onboard/kbmenupngs/exit_nickel.png).
Anyone have any ideas?
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