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Since this is the top result on Google for "moveit default_robot_padding", I though having a working example might be good. Here's how I have set the default_robot_padding parameter:

Add a file padding.yaml, for example in <robot>_moveit_config/config, with the following content

# parameters for padded robot (not used for self collision checks)
default_robot_padding: 0.05
default_robot_scale: 1.0

and load the parameters from padding.yaml into the correct namespace in a launch file somewhere, for example in planning_context.launch

<!-- Load padding -->
<group ns="move_group">
  <group ns="$(arg robot_description)_planning">
    <rosparam command="load" file="$(find <robot>_moveit_config)/config/padding.yaml" />
  </group>
</group>