1. A method, comprising: determining, with a processor, tool-environment interaction data from a palpation of an area of an environment; calculating, with the processor, a mechanical property estimate of the area of the environment based on the tool-environment interaction data; receiving, with the processor, an environment image; generating, with the processor, a composite image comprising a mechanical property map of the mechanical property estimate overlaid on the environment; and outputting the composite image on a visual display.