Change world frame in sim-mechanics during real time simulation

I have a Simulink model which uses SimMechanics to simulate a robot. I want to be able to change the world frame based on which foot is currently on the ground.

I would like to add that I have 2 simulations running. 1 is the SimMechanics model to visualize the robot and 1 which is the entire control system. The latter sends joint angles over UDP to the other visualizing model which in turn updates the joint angles. I also send which foot is currently on the ground.

As it stands now I have the torso set as the world frame but that does not provide accurate visualization.

I want to be able to change the world frame from 1 foot to the other during simulation. Is that possible?