Your configuration is correct and looks like mine.
I think the problem is the permission of the folder and specially the period at the end of the permission.
[root@testos1 ~]# ll /var/lib | grep zoo
drwxr-xr-x. 3 zookeeper zookeeper 4096 Aug 12 18:54 zookeeper
You have to check your ACL and the SeLinux. It is better to disable the SeLinux on your server.