FILE: vtigercrm_director/modules/Invoice/CreatePDF.php
On line 153 you want to replace this:
$product_name[$i] = $associated_products[$i]['productName'.$i]
with this:
$product_name[$i] = $associated_products[$i]['productName'.$i]."\n-".$associated_products[$i]['comment'.$i];
Source: How to change the PDF layout
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