Collecting data from Ego Vehicles

Hello! I’m a beginner in using Carla Simulator and I want to ask if it is possible and what should I use in order to gather data (I don’t know exactly but I think the sensors from the car can output video files / pictures of simulation) from multiple vehicles at the same time or it is only possible to take that data from a single car. I’m asking that because that data will be used with AlphaPose for pose estimation of the pedestrians in the simulation.