Greetings of the day from India , to all the members on this forum 
A Good question Mr. Rahul 
Yes you are right that the ESD standards do not explicitly specify any requirement or guidance regarding the usage of ESD safe foams for PCBA packaging.
I am putting up my views a under and look forward for views and comments from our ESDA experts and other colleagues on the forum
1.First of all, the ESD safe foams are available in different types and widely used by many in the EPAs for different applications. I do not know which type of foam you are referring to, as the word Anti static basically applies for low static generators in ESD terminology as against the meaning in an English dictionary .
2.Secondly,in general the most important factor is that the ESD safe foams cannot be an equivalent to Faraday cage protection(shielding) bags which is an absolute requirement per both the standards when they are in transportation between the EPAs or to warehouse or outside.
3.ESD foams are available in static dissipative as well as in conductive range in PU-EPE-EVA type.
4.PU foams normally impregnated with dissipative or conductive additive during process and thus will be homogeneous in ESD safe properties .But, EPE & EVA ( I am referring to the ones mfd or processed in India and not the imported ) are normally externally coated with dissipative or conductive solvents and thus , they will not be volumetric ESD safe as per the requirement per ANSI ESD S541 table
5.Basically, any ESD-safe foam protects the PCBA against thermal shock and protect against charge generation on its surface but does not provide the Faraday cage shielding protection mentioned above which is available with metallised static shielding bags .
6.However, covering the PCBA first with a static shielding bag and mouth sealed (without any staples) and wrapping it with an ESD safe Conductive foam during transit would be good as it serves both ways to provide shielding and cushion against thermal shock .
7.Alternatively; the PCBA can be covered with a dissipative foam and put inside a conductive PP /molded sealed box ( with lids) which also serves both ways to provide shielding by the external conductive box and cushion against thermal shock by the dissipative foam. Here you can avoid the usage of bags.
8.Last but not the least ,a word of caution. Shielding bags are just 80-150 microns and are not supposed to be used for multiple applications as the sharp solder spikes/ sharp corners of the components on the PCBA directly in contact with the inner layer of the bags as well frequent folding of the bags may lead to hair line pin holes or cracks on the middle metallized layer of the static shielding bag which will make its shielding property null & void. *
* Industrial practice for verification of ESD packaging topic exchange of views in the forum and Andy Sir’s posting may please be referred to on the Static shielding bags.
Look forward to others views as well
Thank you