first, the following line shows you should not need a password for
doing sudo as 'foo'
>foo           ALL=(bar) NOPASSWD:        ALL

In your command you are implying a double sudo while ansible only does one.

ansible can connect as a remote user 'foo' and then use sudo to run a
command as another user 'bar', to have that command also be sudo, you
need to add that yourself, or allow 'foo' to sudo as root.

for example, i believe this is what you want (with your inventory
configured for remote user being 'foo' and sudo user being 'bar':

ansible client-01 -m raw -a "sudo touch /etc/testfile"

except it won't work, as ansible won't prompt you for the sudo
password for 'bar' only for 'foo', which does not need one, but the
reverse would work.

foo           ALL=(bar)                           ALL
bar           ALL=(ALL) NOPASSWD:        ALL

with this ansible can use the password prompt for 'foo' and then you
can sudo to root from bar w/o a password.

-- 
Brian Coca

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