My friend once had gallery of CGI in Toronto. Some of his printed images simulated just that. To me, unless you rubbed your finger you would not guess. It had visually perfect shading and relief. Granted there were no parallax but to properly notice that one human needs to be constantly moving when watching the painting.

Also I have no idea if it exists but nothing prohibits one to hook up simple plotter type robot to computer and have it make that physical presence real by using real brushes / spray and paint.