My 5.5 yo son poops in his underwear regularly, a couple of times a week. He is also responsible for cleaning it up every time. Other than pitching an obligatory fit, he doesn't seem to mind that. In the past we have sent him to his room /bed early as recommended in Dr. Rosemond's toilet training book, but our schedule has changed and we can't accommodate him staying in his room in the evenings. I homeschool, so the rest of the day is available. How can we knock this out for good?