Since we only have vague hints where things are in relation to each other, such a map would depend more on the imagination of the artist than facts in the show. And those facts are sometimes contradictory; Gobo and Red climb high while following the path to Who Knows Where, then parachute down a potentially fatal drop and are shocked to find themselves in the Great Hall. Yet in many episodes, and even in the opening sequence, we see that the Gorgs' well is right above the pond in the Great Hall, and the drop is short enough that the shallow water cushions Gobo's fall down the well. In an early episode we see the pond in the Great Hall drain completely when Junior pumps out the water for Pa's bath, showing that the pond is shallow, but in
Beyond the Pond the same swimming hole leads to an underground passage connecting to Merggle Lake.
Plus, caves are three dimensional. If you made a flat map, you'd only be showing a slice of the environment, not the whole place.
That said, Gobo did have a map of the Rock, We see it in
The Bells of Fraggle Rock. Doesn't look too accurate to me, as makes those limestone caves look a little too geometric.