What is the ruling on the emission of viscous fluid in the form of drops, without pleasure or lust, which is possibly madhy or maniy, sometimes observed after penile erection?

The described characteristic is closest to the characteristic of madhi (pre-seminal fluid), which is a viscous fluid that usually exits after arousal, whether by touch, thought, or friction. It is thinner than mani (seminal fluid), and its emission is natural, without gushing, and it mostly exits intermittently. One must wash the entire penis and whatever of it (the fluid) has touched the body or clothing.