On R0 make a sub interface of vlan 100 on interface fast 0/0  and on another router R1 make subinterface of vlan 50 of interface fast 0/0.

then do static routing between R0 and R1 

R0(config)#ip route 200.0.0.3 255.255.255.0 192.168.0.2

R1(config)#ip route 10.0.0.0 255.0.0.0 192.168.0.1