Inverse kinematics and pseudo-inverse of Jacobians

Hello community!

I have these:

First, I want to find the inverse kinematics when are only active q1, q2 q4 and q3=q5=q7=0,q6=0.75rad.

Secondly, I want to find the pseudoinverse of Jacobians when all are active.

PS. I have found the homogenous transformations for every qi, i=1,2...7

Thanks in advance!