1. A surgical robot, comprising: an imaging system comprising at least one camera; a processor in communication with said imaging system; a manipulation system in communication with said processor; and a visual display in communication with said processor, wherein said processor is operable to: calculate a mechanical property estimate for an area of an environment based on an environment model of tool-environment interaction data; create a composite image comprising a mechanical property map of the mechanical property estimate overlaid on an environment image from said at least one camera; and output the composite image on said visual display.