How do I transfer programs between Roamio & PC

Hi - I searched on this, but drowned in too much info. I'd like to move stuff off my Tivo to my PC for "offline" storage (copyright permitting). Even better if i could stream from my PC back to the TiVo. Seems like I want is "Tivo Desktop" but it's obsolete? What should I be using (simpler the better) or can I not do this anymore?

thanks!
/j