"He just played catch, he didn't play in the field. I didn't get anything that indicated there was a problem," said Royals assistant general manager J.J. Picollo.
Infante walked and went 0-for-4, with two popups to shortstop, a strikeout and a hard-hit grounder to second base.
"He took his swings and I didn't see any hesitation at all in his swings, so he's feeling good enough to hit and hopefully that will continue," Picollo said.
There was no immediate indication on when Infante might rejoin the Royals, who are in Milwaukee for their last two exhibition games on Friday night and Saturday afternoon.
Infante, bothered earlier in training by a sore shoulder, played just eight Cactus League games in Arizona. He has yet to play in a game with his new shortstop partner, Alcides Escobar.
Dick Kaegel is a reporter for MLB.com. This story was not subject to the approval of Major League Baseball or its clubs.