The head can swivel on a ball-and-socket joint neck.
The arms can..
Swing on a peg-and-socket joint.
Raise horizontally.
The upper elbows can turn.
Both elbow and knee joints can be bent up to 90 degrees.
The manipulators...
Are fully articulated for each finger.
Can swivel on a ball-and-socket joint.
Front and side skirt armors can pivot to avoid interference with the leg articulation.
The upper thighs can swivel on a ball-and-socket joint, thought the backwards articulation is hindered by the non-poseable rear skirt armor integrated with the back half of the body.
The ankles can swivel on a ball-and-socket joint.
WEAPONS & OTHER GIMMICKS
Psycho Gundam can transform into Mobile Fortress mode.
The Shield can...
Mount onto any forearms, though the default position is on the left.
Be split into two components for the Mobile Fortress mode (or the MS mode if one chooses).
