diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 61b212d..d9d2a2b 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -33,10 +33,8 @@ jobs:
       # Install DART dependencies
       - name: Install vcpkg Packages
         env:
-          VCPKG_PACKAGES: "assimp boost-system boost-filesystem ccd eigen3 fcl fmt spdlog"
-          # '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 flann freeglut glfw3 nlopt ode opengl osg pagmo2 pybind11 tinyxml2 urdfdom"
+          VCPKG_PACKAGES: "assimp ccd eigen3 fcl fmt spdlog"
+          VCPKG_OPTIONAL_PACKAGES: "bullet3 flann freeglut glfw3 nlopt ode opengl osg pagmo2 pybind11 tinyxml2 urdfdom"
           VCPKG_OPTIONAL_PACKAGES_NOT_WORKING: "ipopt"
         shell: cmd
         run: |