Simulating Multiple Bodies with Different XMLs

Autonomous Machines Robotics - Isaac Isaac Gym
1

Is there a way to simulate multiple different XMLs simultaneously in an IsaacGym environment?

For example in the Ant environment from

ant_asset = self.gym.load_asset(self.sim, asset_root, asset_file, asset_options)
...
for i in range(self.num_envs):
            ...
            ant_handle = self.gym.create_actor(env_ptr, ant_asset, start_pose, "ant", i, 1, 0)
            ...

I would like the ant_asset to be unique for each environment i. Would I just load in every xml independently 0,…,i with load asset and then create an actor corresponding to that index?

Thanks,
Sam