By Jonathan Stempel and Luc Cohen NEW YORK (Reuters) -A woman who has said she was victimized by late sex offender Jeffrey Epstein said Britain’s Prince Andrew put his hand on her breast at Epstein’s Manhattan townhouse in 2001, according to court documents from a civil lawsuit unsealed on Wednesday. The incident, which has been previously reported by other media outlets and Andrew has denied, was among the details described in an initial trove of previously redacted documents that otherwise revealed few new details about the extent of Epstein’s alleged sex trafficking activities. More documen…