Groping

"Why I never! A half demon I just met sticking his hand through my chest. And (or was it Then) there's the fact you stole my jewel. Now I have become cross." - Yura after he pulls his hand out of her chest

Love that episode Yura of the Hair and Down the Rabbit Hole and Back Again ^.^

And I suppose that could be a form of extreme groping and it was an effect way to get that little bag with the jewel shard out of her cleavage heh.