Not sure this is what you are looking for, but maybe it will work for what you need.

But what you can do is to make a box primitive and scale it down so it rather small, just so its easier to see what is going on, then you place the box at the toes of where you want the pivot to be. Then select the character and go to Figure -> Set figure parent.. and select the box, now you can rotate the box and make the character pivot around it. There might be some more fancy way to do it, but im not sure how.