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Remove the lamp
In my prison it is often the autoplacer which places lamps above the spots where I want to build (cell) coors or other 1 tile furniture. As soon as I discover it I emove the lamps in order to avoid the problems you describe
in this case you could install the servo and then connect the servo to a door console, so that a guard is able to open the door via the console
1. hover over the door
2. press tab until you see remote door (tab cycles through multiple objects on a tile)
3. press lock open
4. install and link your servo