The DVD plugin for pyTivo (available in lucas_nz's fork, an add-on for mine) will handle VIDEO_TS folders. Note that you'll also have to turn on grouping (press "2") each time, due to a bug in recent versions of the TiVo software. It does not handle menus or subtitles.
Streambaby will do subtitles, if you rip them to a separate file. But it doesn't support VIDEO_TS, AFAIK.
pyTivo copies the recording to the TiVo (but you can start playing it right away, before the copy finished); and as the name suggests, Streambaby streams.
TiVo Desktop (not "TiVoToGo", which is the name of the service, not the program) has no special support for DVDs, but will transfer rips, either as individual VOB files or whole titles (if you rip them that way). Note that a VOB file is really just an MPEG-2 program stream, and it's already in a TiVo-compatible format. You might just need to change the extension from ".vob" to ".mpg".
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Last edited by wmcbrine : 01-24-2015 at 10:57 PM.