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I haven't spoke to them, no. They would be the obvious first call, I guess.
Do you have a close up of the decals? They look (along with most resto's I've seen) a little clunkier than originals, on the "e" particularly, but a bit harder to tell with the solid colour. Did they offer outlined versions, or just solid colour?
It looks like they did a very tidy job overall though, how's it holding up and been riding? I had a 653, but not for nearly long enough.
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if you need Roberts decals contact @gaz. He might have some spares from his resprays or can tell you where he got them (from someone on here IIRC). see them on the Matching Roberts thread
Have you tried Mario Vaz?
He got me ones in the same font for my respray #263