Poi:
There are many variations to pois. Some are made from socks, some are an "adjustment" to a ball, however they all ultimately are the same. Pois are a cord/length of material weighted at one end with the other end in hand, which always comes in a pair. Then swung around the body in a motion to create a pattern. .
Household Poi: Two plastic bags with some beans in it and tied to prevent spillage!
Staff:
There are also many variations to staffs, varying in lengths. And ultimately you are looking to find a shape of a straight and long stick, much like a broom stick. Some are made shorter like batons and some can be longer than the person using them. They too can be made from different materials and can be used in singularly or in a pair or a few at a time in juggling stunts.
Household Staff: One meter-long broom stick, with smoothed out ends!