H1B Visa stamping with Different company than Petition


here is my question , i m already working for XXX company and working in USA , i got visa stamping it from India valid for 3 years.If i change my company here and petition gets transferred to YYY company(as consultant- contract) and i need to go to India.

I won;t be able to go to Visa stamping India with New company YYY because it is small consulting company, so do can i come back to USA with visa stamping other than current petition, our stamping should match with Petition filed company?

thanks in advance.