It sounds like you are describing the Master Grade G Gundam released in 2001. This kit was indeed innovative for its time with its Fighting Action frame system, which eliminated the use of polycaps and allowed for more stable and poseable joints. It also included precolored parts and dry transfers for markings, as well as a figure of the pilot Domon Kasshu and two sets of hands. Overall, it was a great addition to the Master Grade lineup
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