The mapping should be setup between default.foo and default.aspx, mapping extensions cannot achieve this goal. You may use URL Rewrite module to create a rule to rewrite default.foo to default.aspx.
A simple example is as below,
<rewrite>
<rules>
<rule name="foo" stopProcessing="true">
<match url="(.*)\.foo" />
<action type="Rewrite" url="{R:1}.aspx" />
</rule>
</rules>
</rewrite>