Where do I find Pexiga?

[Yohane]

I saw that her quest involves a machine called the "doll maker" and that this machine has a bad end

How do I find Pexiga and start her quest, thus leading me to fight the doll marker so I can read it's bad end

 

[ScarletteKnight]

You need Yammi as a crew member, then you talk to her and "milk" the pexiga, and then talk to Yammi about the Pexiga, and then go to Dr. Badger.