PS:
Alternatively – without any third-party tools – you could execute this as Swift script in KM:
import Foundation
LSSetDefaultRoleHandlerForContentType("com.adobe.pdf" as CFString, LSRolesMask.all, "com.apple.preview" as CFString)
Replace the BundleIdentifier (com.apple.preview in the example script) according to your needs.
Note: You can quickly get the BundleIdentifier of any app by executing this in the Terminal (example):
osascript -e 'id of app "TextEdit"'
Edit (2017-01-07):
Here is a little macro to get the Bundle ID of an app.