Set up routing to forward requests to a subnet to a certain router

Here is how my home network is set up:

There is an ISP-provided gateway which does DHCP for 192.168.29.0/24. I connected two routers to this gateway as clients, (R1 and R2, with respective IPs 192.168.29.2, 192.168.29.3).

The routers do DHCP under 192.168.0.0/24 and 192.168.1.0/24.

As a client on, say, R2, (192.168.1.3), I would like to reach a client on R1 (the printer, 192.168.0.2). I set up a static route in R2 to let it forward 192.168.0.x requests to 192.168.29.2, which is R1:

However, it appears that R1 doesn't accept the request. I'm guessing it looks like a request from WAN to R1, (which it sort of is), and I have no idea what setting to even look for to let it accept this. And, accept what? What would I be trying to accept -- "packets from outside to inside"? I'm not sure how to even describe this.

Running a traceroute to a R1 client shows that it's hitting R1. Nothing happens then, it's a time-out.

joseph@MBA : ~
[130] % traceroute 192.168.0.5 
traceroute to 192.168.0.5 (192.168.0.5), 64 hops max, 52 byte packets
 1  r2 (192.168.1.1)  4.888 ms  4.537 ms  3.970 ms
 2  192.168.29.2 (192.168.29.2)  5.185 ms  5.291 ms  7.068 ms

Where do I go from here?