Just spent all morning trying to get XP drivers to load for the PICO 1000 series.
Software would install ok but when XP attempted to load the drivers when the device was plugged in the installation always failed during the setup of WdfCoInstaller01005.dll
Logfile (when I found it) only told me that "prerequisites for wdcf1005" were not available but didn't tell me what they were.
Finally discovered that this is caused by incompatibility between a previous install of this windows software component and the one being installed for the PICO 1000 series.
I solved it by removing C:\WINDOWS\system32\DRIVERS\wdf01000.sys and now everything installs fine.