Found this document which works fine for Petals 3.1 when you choose petals-cdk-core version 5.1.3 (Seems higher versions didn't have the petals.component.framework.util.UtilFactory or did i forgot something?).
Are there any solutions to get that component running under Petals 4.1?
To run your component on Petals ESB 4.1, you MUST upgrade the version of the CDK to the last one: 5.3.0.
The UtilFactory has been removed because it has no sens. Several utility classes are available in the package org.ow2.petals.component.framework.util. You should find that you serach. Otherwise I can help you if you give me more details: the method that you want invoke for example.
If I remember well, the problem with these WSDL was an empty mark-up at some point. Something which was not validated in the studio. Otherwise, Petals supports WSDL with various and multiple imports (WSDL, XSD).