def execute_plan(self, plan):
    for step in plan.steps:
        result = self.execute_step(step)

        if result.indicates_replanning_needed():
            updated_plan = self.planner.replan(
                original_plan=plan,
                execution_context=result,
                remaining_steps=plan.get_remaining_steps()
            )
            return self.execute_with_feedback(updated_plan)

        plan.update_context(result)

    return plan.get_final_output()

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