Watch the Chord Shapes & Inversions online guitar lesson by Henry Johnson from Jazz Expressions
First, let's deal with the major chord shapes, looking at Gmaj7. Let's play the inversions, which are just arpeggios note-for-note, going up the neck. These inversions that we find are called "areas of activity" where we can get the Gmaj7 sound.
Next, let's look at the minor chord shapes, moving up the neck using the Gmin7 arpeggio, and then we'll go on to the dominants, which uses a flatted 7th but major 3rd. These are all moveable - and when you do, you'll be going to a different key. Take your time with these and try to learn these positions, as these will fuel your improvisation.