For example, you could say “wrapped your fingers around the cylindrical, smooth steering wheel.” You can’t change the order of steering wheel, but you can change the order of cylindrical and smooth (which I did), so they need a comma between them.

So there you go. I hope this will help you in the future; you can email me with specific grammatical questions as well if you need to.

com·ma

NOUN:

1: Grammar A punctuation mark ( , ) used to indicate a separation of ideas or of elements within the structure of a sentence.

2: A pause or separation; a caesura.

3: Any of several butterflies of the genus Polygonia, having wings with brownish coloring and irregularly notched edges

after smooth

you pointed it out in your following sentence

BY using the word AND (the pause)