Reading this discussion might help you: 
https://groups.google.com/forum/#!topic/cocos-discuss/Ks83VdBj9Wk

I think with cocos2d you usually draw the node in its draw() function which 
you can implement as you like -- could be drawing some simple shape. When 
the node has been added to a Scene, its draw() function is called when the 
scene is drawn. Pyglet can be used for drawing. You could look at the 
implementation of Canvas or ColorLayer for example.

I haven't tried Canvas, but to me it looks good for drawing simple shapes.

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