repair deterministic playback

[amandlek]

• fix some errors that we had in our scripts and data collection from the v1.0 refactor to enable deterministic action playback
• address Playback script does not reproduce deterministic results #173 and h5py Dataset object does not seem to have value  #162

[yukezhu]

Thanks for the quick repair. @zhuyifengzju should test this PR as well.

[yukezhu]

Shall we close PR #167 given this one?

[zhuyifengzju]

I tested localy, and this PR fixed the issue. And I think the #167 is also resolved in this PR.

[yukezhu]

Is this assertion too harsh? Maybe we should allow for some tolerance for small numerical errors in checking the state matching.

robosuite/robosuite/scripts/playback_demonstrations_from_hdf5.py

Line 94 in e8bf463

assert(np.all(np.equal(states[j + 1], state_playback)))

Also, tried the replay function with one demonstration collected with the keyboard (download this demonstration file) and this assertion throws exception.