On the first image, the origin is at the good position, ie the projection of the hip center to the initial foot plane and the angles are modified as you have rotated your figure.
It is not the most convenient for your posing but DS has no way to guess what you want to do.
So there is no automatic way to fix the origin.
But there are tools to do that.
mcasual has a good script to change origin/axis of anything
You must be registered to see the links
For simple situations, you can just select the figure, create>new null, position the null where you want the origin to be and parent your figure in place to this null. Then, you can rotate the null around its origin and the figure will follow.