Integrating actuators into sensor networks is often considered to be the next logical step in the evolution of wireless sensor networks. However, few practical examples of such sensor and actuator networks have been demonstrated so far. In this paper, we present a prototype system that supports the easy prototyping of such applications in the area of home automation. We demonstrate the utility of this system with a simple light control application built on top of it. We also report first experiences and insights gained with the help of real-world experiments.