Well, it is not doing nothing. We are warm blooded animals, and the body gives off about 100 W to keep us warm. That comes from different activities needed to keep us alive (breathing, digesting) but also from the the brain: your brain uses a large amount of glucose, about 1/5 of your daily calories.
The surprising part is the muscles are so efficient. But they need to be. If moving for hunting or gathering food needed much more energy we would have gone extinct a long time ago.
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