lack of thread safety in MetaDrive simulation

[deanlee]

Describe the bug

The simulation appears to lack proper synchronization when accessing shared state across multiple threads. Specifically, resources like self.simulator_state and self.world are accessed by multiple threads (simulated_car_thread, simulated_camera_thread, and the main thread) without explicit synchronization mechanisms. This can lead to race conditions, causing unpredictable behavior or crashes.

Provide a route where the issue occurs

none

openpilot version

0.9.7

Additional info

No response