I think you need to use gensub
from gnu awk
to get backreference.
But if you do tell us what you want, input and ouput, it can be done differently. Like this:
awk 'split($1,a,"-")!=3 {$1=$1 "-00"}1' file
1-00001-00 1 1-00001
1-00001-01 1 1-00001
1-00001-02 1 1-00001