to touch
tocar
to grab
Eg. I grabbed the milk
agarrar
agarré la leche
Smooth/soft
suave
rough
Eg seems rough
áspero/a
parece áspero
wrinkled
rugoso/a
sticky (adhesive) or catchy
pegajoso/a
sharp
punzante
silky
Eg silky hair
sedoso/a
cabello sedoso
spongy/fluffy
esponjoso/a