@cpollock, I don't know your situation specifically so I would be
speculating at best. But, if I were in your position I might do the
following (but only do these steps at your own risk and have backups of
your data elsewhere):

<risk>
1. delete any and all listed printers in your printer manager.
2. purge the foo2zjs drivers (I'm not familiar with the "correct" way of doing 
this so ask someone else.)
3. ensure hplip is fully-purged from your system by doing something like a 
"sudo apt purge hplip hplip-data"
4. now, install hplip and use hp's own drivers as explained in #22. Something 
curious from your log: hpmud is a component of hplip so perhaps it was 
installed at one time and wasn't properly purged before you installed the 
foo2zjs drivers and now colord is complaining that it can't see your 1020's 
color profile because foo2zjs isn't allowing it (pure speculation again.)
5. If those steps don't solve it, then perhaps purging and re-installing cups 
and then re-doing the steps over again might.
</risk>

Good luck.

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https://bugs.launchpad.net/bugs/1442050

Title:
  (colord:832): Cd-WARNING **: failed to get session [pid 690]: Unknown
  error -2

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