Google sitemaps - how to get ONLY SEO friendly URL's

I have been generating google site map files for peoples websites, I noticed that some of the URL's its finding are non seo friendly versions of pages that have proper urls.

ie. mainpage.com/topic/specific_product vs. mainpage.com/dsgksdohgosdghsdog%%amp whatever.

Is there a way for me to sort out so that only the SEO friendly URL's are added to my sitemap.xml file? I am using Xenu to generate the sitemap.