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Many aspects of the human experience of ubiquitous computing in built environments must be explored in the context of the target environment. However, delaying evaluation until a version of the system can be deployed can make redesign too costly. Prototypes have the potential to solve this problem by enabling evaluation before actual deployment. This paper presents a study of the design space of immersive prototyping for ubiquitous computing. It provides a framework to guide the alignment between specific evaluation goals and specific prototype properties. The goal is to understand the potential added-value of 3D simulation as a prototyping tool in the development process of ubiquitous computing environments.