Which one VoIP SIP audio codec should I choose to high quality calls?

Which one VoIP SIP audio codec should I choose to high quality calls?

The quality of VoIP calls depends on the codec used for the transmission
and on the bandwidth of Internet connection. I want to use best optimized
codec for my Internet connection.
I have to select codecs from the following list:
G.722
G.711 u law
G.711 a law
G.726
G.729
Which one to choose and why?
I want to have best high quality voice on both sides.
I have ADSL2+ Internet connection with bit rates:
download 6 Mbit/s
upload 0.5 Mbit/s