public class CopyEmptyFolder : Task

{

    public string ProjectFile { get; set; }

    public string OutputFolder { get; set; }

    public override bool Execute()

    {

        XDocument document = XDocument.Load(ProjectFile);

        var folders = (from element in document.DescendantNodes().OfType<XElement>()

                        where element.Name.LocalName == "Folder"

                        select Path.Combine(OutputFolder, element.Attribute("Include").Value)).ToList();

        foreach (var item in folders)

        {

            if (!Directory.Exists(item))

                Directory.CreateDirectory(item);

        }

        return true;

    }

}

<UsingTask TaskName="CopyEmptyFolder" AssemblyFile="CustomTasks.dll"/>

<CopyEmptyFolder ProjectFile="$(ProjectPath)" OutputFolder="$(_PackageTempDir)"></CopyEmptyFolder>