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For the sapper may be using his axes (again a door for example)
Adc : I prefer on horse. On foot may arriving for giving an order or repport (just stopping walking or walking but not relax and not running) and presenting a mail
Officer : ordering fire (or waiting saber not at hand)
medic : arriving (just stopping walking or walking but not relax and not running) with case with tool...
Thanks for asking
Sapper. See my post above.
Officer. Advancing with sword, or perhaps sword and pistol.Brians suggestions look OK.
ADC. Perhaps consulting a map and pointing the way to Macca's.
Or putting a dispatch into his satchel or something similarly ADCish.
Medic. Is your medic a surgeon (officer) or a krankentrager (enlisted man stretcher bearer)
I don't mind a surgeon wearing an apron and holding a large scary looking scalpel, or perhaps in full uniform and sharpening his scalpel with a whetstone prior to a battle(I don't think that pose has been done before). It's OK if he's wearing spectacles.
A krankentrager could be bending over a patient a bit like the Airfix/HaT WWI British figure.