Well, at least two of the Staff writers, Greg Snegoff and Greg Finley (both were also voice talent) knew about it. I know this because Greg S. said so in his interview (find it on Darkwater's website) and also because Greg F. said so (my interview of Greg F. goes live on Darkwater's site within the next 24 hours or so). We should reasonably be able to add the other staff writers like Ardwight Chamberlain and Steve Kramer to the list as well as the Director Robert Barron.
Given that most of the original talent/staff on Robotech still work together (with the exception of Macek) and are heavily involved in the importation and dubbing of anime, the likelihood of them NOT knowing about the origins of the 3 anime series that made up Robotech decreases exponentially. There is also the fact that, despite the rantings of some, Harmony Gold has been up front about the fact that it was made of 3 separate series for about 20 yrs now. You can check Robotech Art 1, published in April of 1986.
Whatever Macek said or didn't say is irrelevant....
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I remember back at the LA Shrine Convention, the voice of Claudia said that when they gave her the script, she thought that it was a sad that the japanese had an inter racial couple in an animated show and made no big deal of it, before America did. So she knew also. I dont see why they wouldn't tell the staff that they were "translating" a japanese show. It was a common gig for voice actors back then.