i'd pick cat from your list though.
does it have to be from that list?
we have at one stage or the other had all of those. but if you are open to suggestions get a chicken or two. get an eglu and you are set. contrary to popular belief they are very friendly - we have chooks that are non-pets, but our pets that stay in the eglu are tame. the children pick them up, they play with them, they are friendly. the eglu is an expensive outlay but one i can completely recommend. we have a whole menagerie of beasts here and the chickens are my favourite. and also that of the children. bonus is the eggs for breakfast.
i'd pick cat from your list though.
Go for a Degu. I have 4 at the moment which I plan to breed and they are intelligent, funny and cute. Although you'll have to do a bit of reading up on them before you buy.
Failing that, go for a rabbit. Hamsters die too quickly which is never nice for the kiddies and Guinea Pigs, in contrast to what Richie says, I find are always a bundle of nerves and not very cuddly. Go for a pair of female rabs.