A rigid graph is an embedding of a graph in a Euclidean space which is structurally rigid. That is, a graph is rigid if the structure formed by replacing the edges by rigid rods and the vertices by flexible hinges is rigid. A graph that is not rigid is called flexible. More formally, a graph embedding is flexible if the vertices can be moved continuously, preserving the distances between adjacent vertices, with the result that the distances between some nonadjacent vertices are altered. The latter condition rules out Euclidean congruences such as simple translation and rotation.