It is advisable to travel with your own car and driver instead of public transport. Leave from delhi late eve and reach jaipur (find hotel nearby hawa mahal or city palace) stay overnight there and there wakeup early have breakfast and start visiting jaipur go to City palace, Jal mahal, hawa mahal. There's nothing much and they are all nearby so if you're going by your own car you can navigate or else book a cab. By the time you'll be visiting all three of them it will be lunch time stop for rajasthani thali or simply go for dal-baati-choorma and leave for Amer fort which is straight from Jal mahal so make sure you visit jal mahal in last. By the time you'll finish Amer fort it will be almost evening so you can either come back to jaipur see jalmahal all lighten up during night and stay for another night in jaipur. OR you can save your time and travel overnight to jodhpur is around 5 hours journey from jaipur and next day visit jodhpur you can start after 12pm and still you'll cover most of it 2 major one's are umaid bhawan palace and keylana lake. And again in evening you can leave for Udaipur which is another 5 hours and next day visit udaipur lakes and temples and leave for delhi late evening and by next morning you'll be in delhi since its almost 10 hours drive. So this way in short time you'll be able to cover almost everything and fun week.