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You are probably looking for the contour_plot function, which is briefly mentioned in Sage guided tour's plotting section, documented at contour_plot documentation, and also featured in the contour_plot tutorial.
sage: contour_plot(lambda x,y: x^2 + y^2, (-2,2), (-2, 2))
You can see more options by accessing the documentation:
sage: contour_plot?
in particular you can specify some options such as colorbar etc.
