Setup network printer with 2 modems

I have a network printer (HP Office Jet 6000), I want to setup this printer in my network.

This is my network structure:

ISP --> Modem (10.0.0.2) --> WIFI (LAN: 10.0.0.3, WAN: 192.168.0.1) --> Printer (192.168.0.254)

Modem: Draytek Vigor 2950

WIFI: TP-LINK TLWR841N

How can I print from network 10.0.0.x?