Deforming a cylinder when pressed by my hand.

Hi, I am working on a college project and need some help. I have a cylinder and need it to be affected by my hand. In other words if I touched the cylinder's top surface it will squeeze as if I am pressing on a marshmallow piece then when I remove my hand it returns back to its original shape. Any idea how to do that? How to get my hand position and compare it with the cylinder's borders? How to change the cylinder's shape when I press on it?
Anyone can help me with that?
Thank you.

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