Check the game manual’s <R5> and <R7>.
https://content.vexrobotics.com/docs/vrc-starstruck/VRC-2016-17-Starstruck-Game-Manual-081616.pdf
It doesn’t state anything about foam padding, which means…
Well there is this one in the catalog
Material Type High-density Polyurethane Foam
Material Thickness 0.250"
^Official Robot Components from the VEX Robotics Design System