diff --git a/.azure-pipelines.yml b/.azure-pipelines.yml
index dadcaab0b1621..8fcc3967a4b38 100644
--- a/.azure-pipelines.yml
+++ b/.azure-pipelines.yml
@@ -81,8 +81,8 @@ jobs:
     VCPKG_PACKAGES: 'assimp boost-system boost-filesystem ccd eigen3 fcl'
     # 'dart-utils' needs tinyxml2 and boost algorithm/lexical-cast
     #   and also boost-math to resolve a circular dependency with lexical-cast
-    VCPKG_OPTIONAL_PACKAGES: 'boost-algorithm boost-lexical-cast boost-math bullet3 ode tinyxml2'
-    # VCPKG_OPTIONAL_PACKAGES_NOT_WORKING: 'flann ipopt nlopt osg urdfdom'
+    VCPKG_OPTIONAL_PACKAGES: 'boost-algorithm boost-lexical-cast boost-math bullet3 freeglut ode opengl tinyxml2 urdfdom'
+    VCPKG_OPTIONAL_PACKAGES_NOT_WORKING: 'flann ipopt nlopt osg'
     BUILD_TOOLSET_VERSION: '142'
     CMAKE_GENERATOR: 'Visual Studio 16 2019'
   steps:
@@ -98,7 +98,7 @@ jobs:
       cmake --version
       mkdir build
       cd build
-      cmake .. -G "$(CMAKE_GENERATOR)" -A x64 -DCMAKE_BUILD_TYPE=$(CONFIGURATION) -Wno-dev -T "v$(BUILD_TOOLSET_VERSION),host=x64" -DVCPKG_TARGET_TRIPLET=$(VCPKG_ARCH) -DCMAKE_TOOLCHAIN_FILE="$(VCPKG_INSTALL_ROOT)/scripts/buildsystems/vcpkg.cmake" -DCMAKE_INSTALL_PREFIX="$(Build.BinariesDirectory)/$(REPO_NAME)" -DDART_MSVC_DEFAULT_OPTIONS=ON
+      cmake .. -G "$(CMAKE_GENERATOR)" -A x64 -DCMAKE_BUILD_TYPE=$(CONFIGURATION) -Wno-dev -T "v$(BUILD_TOOLSET_VERSION),host=x64" -DVCPKG_TARGET_TRIPLET=$(VCPKG_ARCH) -DCMAKE_TOOLCHAIN_FILE="$(VCPKG_INSTALL_ROOT)/scripts/buildsystems/vcpkg.cmake" -DCMAKE_INSTALL_PREFIX="$(Build.BinariesDirectory)/$(REPO_NAME)" -DDART_MSVC_DEFAULT_OPTIONS=ON -DDART_VERBOSE=ON
       cmake --build . --target ALL_BUILD --config $(CONFIGURATION) -- /maxcpucount:4
     displayName: 'Build'
     workingDirectory: '$(Build.SourcesDirectory)'
diff --git a/cmake/DARTFindurdfdom.cmake b/cmake/DARTFindurdfdom.cmake
index 458f72b3fcfe0..524389198a86f 100644
--- a/cmake/DARTFindurdfdom.cmake
+++ b/cmake/DARTFindurdfdom.cmake
@@ -8,6 +8,18 @@
 
 find_package(urdfdom QUIET CONFIG)
 
+if(MSVC)
+  # Remove invalid path (i.e., /include) from urdfdom_INCLUDE_DIRS. This happens
+  # when it's installed by vcpkg on Windows. See:
+  # - https://github.com/dartsim/dart/issues/1365
+  # - https://github.com/ros/urdfdom/issues/140
+  if ("/include" IN_LIST urdfdom_INCLUDE_DIRS)
+    list(REMOVE_ITEM urdfdom_INCLUDE_DIRS "/include")
+    find_package(TinyXML REQUIRED MODULE)
+    list(APPEND urdfdom_INCLUDE_DIRS ${TinyXML_INCLUDE_DIRS})
+  endif()
+endif()
+
 if(urdfdom_FOUND AND NOT TARGET urdfdom)
   add_library(urdfdom INTERFACE IMPORTED)
   set_target_properties(urdfdom PROPERTIES
diff --git a/cmake/FindTinyXML.cmake b/cmake/FindTinyXML.cmake
new file mode 100644
index 0000000000000..c0af61c8280db
--- /dev/null
+++ b/cmake/FindTinyXML.cmake
@@ -0,0 +1,41 @@
+# Copyright (c) 2011-2019, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/master/LICENSE
+#
+# This file is provided under the "BSD-style" License
+
+# Find TinyXML
+#
+# This sets the following variables:
+# TinyXML_FOUND
+# TinyXML_INCLUDE_DIRS
+# TinyXML_LIBRARIES
+# TinyXML_VERSION
+
+find_package(PkgConfig QUIET)
+
+# Check to see if pkgconfig is installed.
+pkg_check_modules(PC_TinyXML tinyxml QUIET)
+
+# Include directories
+find_path(TinyXML_INCLUDE_DIRS
+  NAMES tinyxml.h
+  HINTS ${PC_TinyXML_INCLUDEDIR}
+  PATHS "${CMAKE_INSTALL_PREFIX}/include"
+)
+
+# Libraries
+find_library(TinyXML_LIBRARIES NAMES tinyxml HINTS ${PC_TinyXML_LIBDIR})
+
+# Version
+set(TinyXML_VERSION ${PC_TinyXML_VERSION})
+
+# Set (NAME)_FOUND if all the variables and the version are satisfied.
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(TinyXML
+  FAIL_MESSAGE  DEFAULT_MSG
+  REQUIRED_VARS TinyXML_INCLUDE_DIRS TinyXML_LIBRARIES
+  VERSION_VAR   TinyXML_VERSION
+)