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I finally managed to add custom poses, you can find the stage here : https://github.com/YannickRiou/moveit_task_constructor/blob/master/core/src/stages/generate_custom_pose.cpp

You can then use it by giving it an array with custom poses (please see the function createDropTask that use the stage "GenerateCustomPose") : https://github.com/YannickRiou/pr2_mtc/blob/4b6242d05bad952ac7b6d3f2df7e7a5df6f0afdb/src/pr2_tasks.cpp#L329

Feel free to ask question if something is unclear.