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s/\x00+//g;
tr/\x00//d; # a.k.a. "y///" : y/\x00//d;
perl -e 'print "foo\x00bar" | xxd -g 1 # produces this output (note the null byte): ... # produces this output (no null byte): 0000000: 66 6f 6f 62 61 72 foobar