How to respawn agents

[beaol]

Hi, is it possible to respawn an agent immediately after it dies in the environment?
When running the environment with a certain number of agents, I experience that the environment resets after some amount of agents dies. I would like to prevent this reset and just respawn an agent right after it dies.
I tried to clear the dead_this_tick and dead_agents sets and add the dead agents back to alive_agents, but it didn’t seem to work. It prevented the reset of the environment but the agents were still dead and never acted again.
Is it possible to respawn agents when they die?