The worksheet is pretty self-explanatory. I made it with my JTE last year. Students choose an infinitive from the word bank at the bottom to complete the sentence. Then they have to think about how the infinitive is functioning in the sentence and choose the correct translation (べき、ために、こと、 etc). I let students work alone for a few minutes, then work together to complete the worksheet. Finally, we check the answers as a class.
If you aren't comfortable using Japanese or don't like to use it in the classroom, I recommend making this a joint activity with the JTE. It may be easier for them to explain the answers. Either way, it's good for checking comprehension of the grammar after students have learned the various uses of the infinitives. I'm attaching the key as well.
It can be a little challenging, but it really tests the students' comprehension, so I encourage you to use it! The design isn't beautiful, so feel free to redesign it to your liking.