How do I rip just a specific episode from a tv series dvd?

I have a boxed set of TV episodes but when I open up the DVDs in Windows explorer I see that the vob files are 1 long stream split up into many 1 gigabyte vobs (all the same size except the last one - 6 episodes over 8 vobs). When playing the DVD in a DVD player, I can just select the episode from the menu. How can I just get a specific episode (or all episodes separated at their episode boundaries) onto my hard drive? I don't want to perform any encoding, just rip them exactly as they are for later use on the hard drive. I already have anydvd if that helps (its own "rip to hard drive" is pretty much just a straight copy but I assume it gets rid of the css so that encryption won't be an issue) I have used tsmuxer to do this on Blu-ray disks before but it doesn't seem to work here.

ddmfripper, tvripper, dvd decrypter plus pgcdemux, etc.

This topic has been covered many times before, do a search.