I had the same behaviour in Hardy final, as I had in Gutsy (as in my
previous comment): running hp-toolbox in terminal produces "error:
Firmware file '/usr/share/hplip/data/firmware/hp_laserjet_1020.fw.gz'
not found." when I tried to download firmware from the GUI.

I can confirm that using the HPLIP gui to remove and recreate the
printer configuration gave me the interactive procedure provided by hp-
setup, which automatically downloaded the firmware and worked fine.

Apparently CUPS creating the printer spool directly (when USB printer is
first connected) ignores the need for special drivers. Could hp-setup be
used automatically instead for HP printers for a "Just Works"
experience?

-- 
[Feisty, Gutsy] MASTER: HP LaserJet 1000/1005/1018/1020 don't work because of 
missing firmware
https://bugs.launchpad.net/bugs/96454
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