Is it required to perform Ghusl or Wudu when touching the penis if clear fluid is discharged, and is that considered Haram?

Ghusl (ritual bath) is not required for the discharge of the clear, viscous fluid (madhy). It is impure and necessitates istinja (washing of private parts) and wudu (ablution). Touching the penis with the intention of pleasure is impermissible and is considered masturbation. However, if there is no intention of pleasure, there is no harm in it.