a bit- i blue-printed out the shapes (hardly any actual math was used- it was all in my head- hence why they aren't perfectly symetrical), assembled the general structure, and added things like the outer shells & boosters last. The paint jobs were absolutely the most time consuming part.
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I actually started making the general shape of each from the rough poly models in an instruction booklet- the AG-Sys should be 'flatter'- and giving the Quirex it's HD look was somewhat of an afterthought, that i turned into an insanely time consuming project! I'm pretty proud of them though, i usually only do quick 30 minute sketches haha!