Fixes HiL

[dillonalaird]

Several updates:

• Fixes a bug with human-in-the-loop where it would strip out messages when returning back to the coder causing it to crash
• Updates prompt to ensure planner knows when it sees an image it's from it's own code executing and not the user
• Updates example app to use human-in-the-loop for OD
• Updates human-in-the-loop observation to ensure planner knows it's from the user