YOU SAID:
I pooped my underwear
INTO JAPANESE
下着を脱いでしまった
BACK INTO ENGLISH
I took off my underwear
INTO JAPANESE
下着を脱いだ
BACK INTO ENGLISH
took off my underwear
INTO JAPANESE
私の下着を脱ぎました
BACK INTO ENGLISH
took off my underwear
That didn't even make that much sense in English.