You should be able to use iptables' NAT functionality to pass the ICMP traffic from one interface to the other.
For example see the following code. It will probably take some tweaking for your purposes (I don't claim that as it is written it will work as you intend) but should give you the idea.
Code:
To accept PING:
-A INPUT -p icmp -m icmp --icmp-type echo-request -j ACCEPT
-A INPUT -m state --state RELATED,ESTABLISHED -j ACCEPT
To pass between the interfaces:
iptables -t nat -A POSTROUTING -i eth0 -o eth1 -j MASQUERADE