I'd personally go with a (s)printf approach, but the example you gave wasn't clear what base you intended these numbers to be -- all of the examples you gave only used the characters 0,1 and 2.
If you tried loading those numbers into strings, and then print them, they'll get translated to base 10. If you have them unquoted, they'll be translated as base 8, because Perl uses the leading 0 to mark octal numbers:
printf "%03d\n", '020'; # prints 020
printf "%03d\n", 020 ; # prints 016
printf "%03o\n", 020 ; # prints 020
printf "%03o\n", '020'; # prints 024
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