You need not use them for basic non challenging actions such as walking. However if you are trying to walk a tightrope across a ravine, then yes you would need to spend some Skill points.
You will have to decide when and what Skill Points are to be used for the completion of a given task.
The Points are limited so you must choose wisely or you may run out, just when you need them most.
You can download it at Itch Or Google Drive