Reading this discussion might help you:
https://groups.google.com/forum/#!topic/cocos-discuss/Ks83VdBj9WkI 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.