Deserialize set of Confluent-encoded Avro in one file - scala

Question

I have a file which has binary avro appended next to each other. I would like to read each record one by one. At the same time, I would like to read first few bytes from each record which holds the schema id and then deserialize it. I am able to skip those bytes, using below code, and use the fixed schema. It works for me. But I would like to read each one individually. It that possible?
val client = new SchemaRegistryClient("SCHEMA_REGISTRY_URL")
val schema = new Schema.Parser().parse(client.getSchema("TOPIC_NAME").get.toString)
val reader = new GenericDatumReader[GenericRecord](schema)
val filename = "MY_BINARY_AVRO.avro"
var fileContInBytes = Files.readAllBytes(Paths.get(filename))
val decoder = DecoderFactory.get.binaryDecoder(fileContInBytes, null)
while (!decoder.isEnd) {
decoder.skipFixed(5)
val rec = reader.read(null, decoder)
}
Python code which is able to deserialize binary avro, present next to each other, and seamlessly moving the bytes positions
from avro import schema, datafile, io
import io
import avro
import requests
import os
topic=r'TOPIC_NAME'
schemaurl=r'SCHEMA_REGISTRY_URL'
OUTFILE_NAME = r'INPUT_BINARY_AVRO_FILE_LOCATION'
f=open(OUTFILE_NAME,'rb')
buf = io.BytesIO(f.read())
decoder = avro.io.BinaryDecoder(buf)
while buf.tell()<os.path.getsize(OUTFILE_NAME):
id=int.from_bytes((buf.read(4)), byteorder='big')
SCHEMA = avro.schema.Parse(getSchema(schemaurl,id))
rec_reader = avro.io.DatumReader(SCHEMA)
out=rec_reader.read(decoder)
print(out)