Service-Oriented Architecture (SOA) had received significant attention recently. The concepts that service can be discovered at runtime and application can be composed via service discovery bring great flexibility to application development. SOA can be incorporated into embedded system design, thus improve the reusability and extensibility of embedded applications. Microsoft Robotics Studio (MSRS) is a significant initiative in applying SOA to embedded systems and SOA simulation can play an important role in the robotics application development and verification. SOA simulation differs from traditional simulation as it emphasizes on reusability, collaborative behaviors and its unique model-driven development, this paper proposes a collaborative SOA simulation framework with MSRS environment.