Is it permissible to pray and perform ablution in undergarments if they have been soiled by vaginal discharge, given that it is difficult to change clothes outside the home?

The vaginal discharge known as "vaginal moisture" is pure according to the more preponderant opinion, but it nullifies ablution (wudu'). It is not obligatory to purify the body and clothes from it, and ablution and prayer are valid with its presence on clothes.