This is a reproducible example that shows how to use pseudostate.
Background
The theoretical foundation for pseudo-observations was laid out in a 2003 paper by Andersen, Klein, and Rosthøj:
Andersen, P. K., Klein, J. P., & Rosthøj, S. (2003). Generalised linear models for correlated pseudo-observations, with applications to multi-state models. Biometrika, 90(1), 15–27.
A popular implementation of this technique is the pseudo R package, which is available on CRAN: