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A python library and commandline tool for downloading shows from your Tivo. Does not require a hacked tivo.
Combined with Tivodecode, it can decrypt the shows as well. I would recommend transcoding them after the fact with something like Handbrake for greater device compatibility.
tvpvrd - (TV Personal Video Recorder Daemon). A Unix server/daemon to make scheduled recordings of TV broadcasts using one or multiple Video capture cards with optional automatic transcoding (using ffmpeg)
Yet Another set of MEncoder Scripts; a source package of highly configurable, easy to use, and effective scripts for ripping DVD / VCD video (or transcoding other formats) to industry standard MPEG4 video format with MP3 audio (DivX Compatible).