The world is full of legitimate inverse kinematics algorithms. I've never learned about any of them. Instead of looking up a real algorithm, I just tried my best to invent one. I am using calculus to find how the angle of each arm affects the distance away from the mouse pointer and then rotating the arms to decrease that distance. It seems to work reasonably well!
Inspired by @cloverfly's "Drop The Orange" game: https://scratch.mit.edu/projects/937521386/
