50" short Sof-staff, Jo staff with either a 5/8" CPVC reinforced w/ Hickory w/ 6" hollow at the ends, or 3/8" solid rod fiberglass for a bit of flex. Choose 1/4" foam for training and light sparring. Choose 1/2" foam for serious sparring. All staffs have 1" high density foam at the tips for aggressive thrusting!
The Aikido folks like the Jo a lot, and it is always used in their training.