I don’t think it is their function to wipe the glass, the are there to minimize, as far as possible water entering the inner door. From memory I think the are a soft plastic rather than a rubber composition but I may be wrong.
The are quite easy to remove and refit, and are held in place by about 4 spring clips distributed evenly along there length, if I remember correctly.
I have removed one of mine using a blunt wood chisel by gently levering upwards with a plastic card to protect paint work. The trick is to lever it upwards a millimeter at a time along its full length until you can get your fingertips underneath to finish the job. Have the window all the way down.
Dec