Sorry to bother you after a long time, I get part of the mapping effect when running “spot-comp8.bag” under the default configuration as shown in the figure, but the colors shown in the figure I only find that means the classification of the terrain category.

Besides I want to get an image similar to the second row of Figure 5 in your paper to represent the image of the coefficient of friction, like this.

and what should I do？Maybe I can change something in elmap.py? Waiting for your reply, thanks.