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How to draw this figure in LaTeX?

I am new to LaTeX figure drawing. Here I see two round headed rectangles and two circles. Also I am eager to know that can I draw this in Overleaf?

Just another solution.

documentclass[tikz,border=3.14mm]{standalone}

begin{document}

begin{tikzpicture}



fill circle(2pt) coordinate(a) ++(20:2cm) circle(2pt) coordinate(b); 

draw (a)++(110:2mm) arc (110:290:2mm)--++(20:2cm) arc (-70:110:2mm)--cycle;

draw (b)++(170:2mm) arc (170:350:2mm)--++(80:2cm) arc (-10:170:2mm)--cycle;



end{tikzpicture}

end{document}

One out of many possibilities.

documentclass[tikz,border=3.14mm]{standalone}

usetikzlibrary{shapes.misc} 

begin{document}

begin{tikzpicture}[bullet/.style={fill,circle,inner sep=2pt}]

node[rounded rectangle,draw,minimum width=3cm,minimum height=4mm,rotate=20](A) at (0,0){};

node[rounded rectangle,draw,minimum width=3cm,minimum

height=4mm,rotate=80,anchor=west](B) 

at ([xshift=-1mm]A.south east){};

node[bullet,shift={(200:2mm)}] at (A.east){};

node[bullet,shift={(20:2mm)}] at (A.west){};

end{tikzpicture}

end{document}

Run with xelatex

documentclass{article}

usepackage{pst-node}

begin{document}



begin{pspicture}(-1,-1)(4,5)

pnodes(0,0){A}(3,1){B}(3.5,4){C}psdots[dotscale=3](A)(B)

ncbox[linearc=0.4,nodesep=4mm]{A}{B}

ncbox[linearc=0.4,nodesep=4mm]{C}{B}

end{pspicture}



end{document}

Another option: this one is in Metapost using the mplib package, so you need to use lualatex to compile it. In Overleaf, click on "Menu" at the top left and choose "LuaLaTeX" as the compiler.

documentclass[border=5mm]{standalone}

usepackage{luatex85}

usepackage{luamplib}

begin{document}

mplibtextextlabel{enable}

begin{mplibcode}

beginfig(1);

    vardef arm(expr extent, radius, mark_start, mark_end) =

        save P, A; 

        picture P; path A;

        A = halfcircle scaled 2 radius rotated 90 

         -- halfcircle scaled 2 radius rotated -90 shifted (extent, 0)

         -- cycle;

        P = image(draw A;

            if mark_start > 0:

                fill fullcircle scaled 2 mark_start;

            fi

            if mark_end > 0:

                fill fullcircle scaled 2 mark_end shifted (extent, 0);

            fi

        ); P

    enddef;

    draw arm(200, 16, 0, 6) rotated 200;

    draw arm(200, 16, 6, 0) rotated 60;

endfig;

end{mplibcode}

end{document}