How can I set a passive joint in isaac sim?

In the joint setting part, there is no passive joint, anybody knows how to set the passive joint at the end-effector? Thanks!

If you make a joint that has no drive, wouldn’t it effectively be a passive joint? What do you have in mind exactly?

Thanks your note.

I had tried before.
I want to build up many tactile points on the fingertip, and the point would connect to the fingertip with the virtual joint, If I set the passive joint as you said, it would contact the fingertip because the gravity, so now I set the prismatic joint with fixed damping and stiffness to solve it.