Water monitor claws - wow. Mine is for leopard geckos, so quite less trauma to the rocks compared to a monitor. Don't know if I would use foam rocks in a monitor cage unless you coat them with tile grout first. Then paint. Or use a polyester resin (e.g. Bondo) product. People use grout because it is far less expensive and looks really good, but bondo-type material is way tougher.

Pigmented tile grout mixed to the consistency of peanut butter is a good coating for fake rocks made of foam. Probably would hold up to a monitor. Then you can paint over it with water-based hobby paint. The best paint is an outdoor acrylic product for cured ceramics and metal. I find it at craft/hobby stores, not at home depot type stores. This paint is non toxic but dries quite hard, especially over ceramic, tile, fiberglass, metal, cured resin, epoxy putty, etc. It is the toughest affordable paint that I have found and comes in many colors (small squeeze bottles). A little goes very far. I can reasonably scrub an item painted with this and the paint is not harmed. Also easily retouched when needed.

Epoxy paint will definitely hold up. Search for that online. It is quite pricey.

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