@Kumar Tg
I have the same setup on a single node cluster, I think your atlas.graph.index.search.solr.zookeeper-url should be changed to infra-solr. I logged in my zookeeper to check the parameters. The vertex_index is accessible in infra-solr
$ bin/zkCli.sh
.....
[zk: localhost:2181(CONNECTED) 0] ls /
[hive, registry, cluster, controller, brokers, zookeeper, infra-solr, hbase-unsecure, kafka-acl, kafka-acl-changes, admin, isr_change_notification, templeton-hadoop, hiveserver2, controller_epoch, druid, rmstore, hbase-secure, ambari-metrics-cluster, consumers, config]
[zk: localhost:2181(CONNECTED) 2] ls /infra-solr/collections
[vertex_index, edge_index, fulltext_index]
Parameter to change
atlas.graph.index.search.solr.zookeeper-url = ZOOKEEPER_HOSTNAME:2181/infra-solr
Then try restarting Atlas. Please let me know