Hi Mohan
In pass thru interface you don't need to create any ESR objects, only ID objects are required.
Just Create a Receiver Determination and Receiver Agreement for your scenario (no need for Interface Det. and Sender Agreement).
Specify the IDOC in the Sender Interface and namespace as urn:sap-com:document:sap:idoc:messages
Or instead of creating objects manually, Run the wizard 
with Idoc name/namespace in sender/receiver interface
Regards
Osman