Law Enforcement Baton Trainers are made to practice drawing a fixed baton from a holster. They have a 1/2" wide donut that rests in the holster, and can be carried in any situation without coming out-unless you draw it.
These come in 1/4" foam, with a 1" pad on the tips. They can be Double Ended or with a 6" handle.
These can also be made with a Nylon Core for Bag Work, or Red Man work, or other dummy work.