You can use the LineSegs class for drawing lines; consult the API documentation for explanation, or search in the forums for code samples. Of course, you can use lines to draw circles or whatever else you like; it’s relatively easy to write a Python function to do this.
You can put any of this, or any other model that you create externally, on the screen as a 2D overlay.
Not to mention the suite of 2D widgets like buttons and text entries that Panda provides.