A 2D Layout Algorithm for Small, Sparse, and Undirected Graphs with a Specific Edge Length

Question

I would like to to draw a graph where every edge $e_m$ has a predefined length of $l$. Given that the graph is small and sparse, it should be feasable. However, I did not manage to find an algorithm which does this (or one that is suitable to modify) yet I'm sure that this is a solved problem. Does anyone know of such a layout algorithm and could point me to an implementation or paper?