Jota,
From some of the info in your post I think that you may have more than one configuration problem. But I do see two things that are very important indicators of why you can't reach your printer.
Note that your printer config. sheet indicates that the printer's current IP address is statically set (DHCP: OFF) and has an IP of 192.168.73.2. Then, your ping results (PING 192.168.73.2 (192.168.73.2): 56 data bytes) show that your Mac is using the same IP.
This obviously cannot work. So, go to your Mac's Network preference pane, and set "TCP/IP" for the connection you are using to "Manually" with an IP address of 192.168.73.3 (anything other than .2) and a subnet mask of 255.255.255.0. Then, apply these temporary settings and then try to "ping 192.168.73.2" again. You should get a reply.
If you do, then try typing
http://192.168.73.2/ into Safari to reach your printer's web config. utility. Then, the first thing you need to do is turn DHCP: ON, then save the settings and then restart the printer.
Then, set your Mac's TCP/IP settings back to DHCP and apply the settings.
Assuming that your network has only one router that is serving as a DHCP server, your Mac, and Printer should then both have different DHCP assigned IP addresses, but in the same subnet. If and when that is the case (try printing the printer config again and then pinging it's IP) then you should be able to set up the printer as an IP printer.
If this still doesn't work, then I would guess that you either have more than one device on your network that is trying to be a DHCP server or a device (router or printer) that has some very odd settings that may require a "reset to factory defaults" to start fresh.
The "Communication prohibited by filter" message is certainly odd, and the results mentioning 192.168.73.2, 192.168.153.1, and 192.168.1.33 (all in different subnets if your mask is 255.255.255.0) is even more perplexing. This seems to point to the fact that either there are incorrect static configurations, multiple DHCP servers, or multiple NAT routers on your network that are all confusing the issue.
Good luck again,
Tim
17 PB G4, Xserve G5x2, XRAID 2.5TB, 20 iMac G5, 17 iMac G4 Mac OS X (10.4.3)