If you want to strip out some characters you don't like, you can use the translate function to strip them out:
>>> s="x01x02x10x13x20x21hello world"
>>> print(s)
!hello world
>>> s
'x01x02x10x13 !hello world'
>>> escapes = ''.join([chr(char) for char in range(1, 32)])
>>> t = s.translate(None, escapes)
>>> t
' !hello world'
This will strip out all these control characters:
001 1 01 SOH (start of heading)
002 2 02 STX (start of text)
003 3 03 ETX (end of text)
004 4 04 EOT (end of transmission)
005 5 05 ENQ (enquiry)
006 6 06 ACK (acknowledge)
007 7 07 BEL 'a' (bell)
010 8 08 BS '' (backspace)
011 9 09 HT '' (horizontal tab)
012 10 0A LF '
' (new line)
013 11 0B VT 'v' (vertical tab)
014 12 0C FF 'f' (form feed)
015 13 0D CR '
' (carriage ret)
016 14 0E SO (shift out)
017 15 0F SI (shift in)
020 16 10 DLE (data link escape)
021 17 11 DC1 (device control 1)
022 18 12 DC2 (device control 2)
023 19 13 DC3 (device control 3)
024 20 14 DC4 (device control 4)
025 21 15 NAK (negative ack.)
026 22 16 SYN (synchronous idle)
027 23 17 ETB (end of trans. blk)
030 24 18 CAN (cancel)
031 25 19 EM (end of medium)
032 26 1A SUB (substitute)
033 27 1B ESC (escape)
034 28 1C FS (file separator)
035 29 1D GS (group separator)
036 30 1E RS (record separator)
037 31 1F US (unit separator)
For Python newer than 3.1, the sequence is different:
>>> s="x01x02x10x13x20x21hello world"
>>> print(s)
!hello world
>>> s
'x01x02x10x13 !hello world'
>>> escapes = ''.join([chr(char) for char in range(1, 32)])
>>> translator = str.maketrans('', '', escapes)
>>> t = s.translate(translator)
>>> t
' !hello world'
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