How to stream DVD's on plex media server to Tivo?

I've gotten rid of my DVD players, and only have a PS3 now for my home theater. But occasionally I want/need to watch a DVD in my living room. I have a ReadyNAS unit with the Plex Media Server on it.

But I can't find anything that says what format (.mpg, etc.) that the Tivo expects Plex Media content to be.

Is there any documentation on this?