Current haptic application development tools typically require considerable programming efforts in order to make an existing surface-based graphical virtual environment (G-VE) touchable. In this paper we describe a Graphics-to-haptics (G2H) tool that provides a framework for developing the largest possible haptic virtual environments (H-VE) for stable haptic applications. G2H automatically converts a GVE into a haptic application with no additional programming via a real-time visual software development process of 1) importing G-VEs, 2) setting haptic and visual properties for models, 3) selecting graphics and haptic rendering algorithms, 4) representing the haptic device position in the virtual space, 5) interfacing different haptic devices to the virtual environment, and 6) testing and modify the virtual environment to ensure real-time stability of the created haptic application. The tested H-VE can be used as the foundation for other applications such as surgical simulators [1, 2].