Help with 7-day travel itinerary

I am planning to arrive in Jaipur on the 27th December at night. I would like to see Jaipur, Jodhpur, Udaipur, Jaisalmer. Can anybody help me plan my itinerary? I am aware I want to see too many places in little time, which places should I skip and which ones I must see? Also, what would be the most convenient way to travel between cities?