You need to do a port forwarding on router1’s VPN server to access the devices below router2.
Assuming that your VPN server address is 10.0.0.1 and the device address under router2 is 192.168.8.153, you may need to add the following rules
iptables -t nat -I PREROUTING -s 10.0.0.0/24 -p tcp --dport 655 -j DNAT --to 192.168.8.153
Your PC can access router2 devices through 10.0.0.1:655
It’s just my idea, not proven