Scionox's Journal of Dreams

I was watching some anime about mechas. There was something about different countries, alliances and ofcourse fights between huge mechas. Characters has some discussion between fights and there was one woman who really liked being in water, up to the point of having her mecha set up to be able to make a bath about everywhere.
At some point group of the main characters were assaulting some kind of prison which looked like huge area under a dome from inside. Also there was one really badass dude who was once surrounded by some big robotic enemies during one fight under the dome and he was able to deal with them with bare fists and get out of the fight without even being scratched.